Evolutionary Trajectory Planning for an Industrial Robot

This paper presents a novel general method for computing optimal motions of an industrial robot manipulator （AdeptOne XL robot） in the presence of fixed and oscillating obstacles. The optimization model considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacle avoidance. The problem has 6 objective functions, 88 variables, and 21 constraints. Two evolutionary algorithms, namely, elitist non-dominated sorting genetic algorithm （NSGA-II） and multi-objective differential evolution （MODE）, have been used for the optimization. Two methods （normalized weighting objective functions and average fitness factor） are used to select the best solution tradeoffs. Two multi-objective performance measures, namely solution spread measure and ratio of non-dominated individuals, are used to evaluate the Pareto optimal fronts. Two multi-objective performance measures, namely, optimizer overhead and algorithm effort, are used to find the computational effort of the optimization algorithm. The trajectories are defined by B-spline functions. The results obtained from NSGA-II and MODE are compared and analyzed.

Geo-information Tupu Analysis of Land Use Change in Haihe River Basin

[Objective] This study was to provide basis for the scientific management of land use in Haihe River Basin （HRB） through the quantitative exploration of the land use conversion, changes of intensity and spatial distribution in this region. [Method] With the support of remote sensing technology and geographic information technology, the land use maps of the study area in 40 years （1970-2010） were in- terpreted and plotted. Four kinds of tupu, namely, land use change tupu, process tupu, arising tupu and evolution mode tupu were built through the spatial overlay of the land use maps to analyze the change rules of land use patterns. [Result] The conversion of arable land to construction land was the main characteristics of land use changes in HRB for the 40 years; the area of non-stable region accounted for 35% of the total, indicating that the land use changed remarkably, thus, it was nec- essary to strengthen the scientific land management in HRB; the new conversions to all land use patterns were all the lowest in 1980-1990, indicating that land use changed slowly during this period. [Conclusion] The results indicate that, compared with conventional transfer matrix method, geo-information tupu has obvious advantage in analyzing land use changes that it can demonstrate the spatial distribution of interest region, display the multi-dimensional spatial information.

文化相对主义与文化进化主义对立互动的深层审视——20世纪西方文化形而上学研究透视

20世纪西方文化哲学思潮中的文化进化主义与文化相对主义 ,在其演变过程中 ,一直试图寻求合理的文化价值模式 ,但是它们各有利弊 ,文化统一理想并没有建立起来。笔者认为 ,只有进步的文化观才是合理的文化价值模式 ,建构以人类共同利益为深层依托的超级世界文化是新的文化理念地平线。

Multi-objective optimization for draft scheduling of hot strip mill

A multi-objective optimization model for draft scheduling of hot strip mill was presented, rolling power minimizing, rolling force ratio distribution and good strip shape as the objective functions. A multi-objective differential evolution algorithm based on decomposition （MODE/D）. The two-objective and three-objective optimization experiments were performed respectively to demonstrate the optimal solutions of trade-off. The simulation results show that MODE/D can obtain a good Pareto-optimal front, which suggests a series of alternative solutions to draft scheduling. The extreme Pareto solutions are found feasible and the centres of the Pareto fronts give a good compromise. The conflict exists between each two ones of three objectives. The final optimal solution is selected from the Pareto-optimal front by the importance of objectives, and it can achieve a better performance in all objective dimensions than the empirical solutions. Finally, the practical application cases confirm the feasibility of the multi-objective approach, and the optimal solutions can gain a better rolling stability than the empirical solutions, and strip flatness decreases from （0± 63） IU to （0±45） IU in industrial production.

Gap induced mode evolution under the asymmetric structure in a plasmonic resonator system

The modulation of resonance features in microcavities is important to applications in nanophotonics.Based on the asymmetric whispering-gallery modes(WGMs)in a plasmonic resonator,we theoretically studied the mode evolution in an asymmetric WGM plasmonic system.Exploiting the gap or nano-scatter in the plasmonic ring cavity,the symmetry of the system will be broken and the standing wave in the cavity will be tunable.Based on this asymmetric structure,the output coupling rate between the two cavity modes can also be tuned.Moreover,the proposed method could further be applied for sensing and detecting the position of defects in a WGM system.

Multi-objective differential evolution with diversity enhancement

Multi-objective differential evolution (MODE) is a powerful and efficient population-based stochastic search technique for solving multi-objective optimization problems in many scientific and engineering fields. However, premature convergence is the major drawback of MODE, especially when there are numerous local Pareto optimal solutions. To overcome this problem, we propose a MODE with a diversity enhancement (MODE-DE) mechanism to prevent the algorithm becoming trapped in a locally optimal Pareto front. The proposed algorithm combines the current population with a number of randomly generated parameter vectors to increase the diversity of the differential vectors and thereby the diversity of the newly generated offspring. The performance of the MODE-DE algorithm was evaluated on a set of 19 benchmark problem codes available from http://www3.ntu.edu.sg/home/epnsugan/. With the proposed method, the performances were either better than or equal to those of the MODE without the diversity enhancement.