Path Planning of UAV by Combing Improved Ant Colony System and Dynamic Window Algorithm

A fusion algorithm is proposed to enhance the search speed of an ant colony system(ACS)for the global path planning and overcome the challenges of the local path planning in an unmanned aerial vehicle(UAV).The ACS search efficiency is enhanced by adopting a 16-direction 24-neighborhood search way,a safety grid search way,and an elite hybrid strategy to accelerate global convergence.Quadratic planning is performed using the moving average(MA)method.The fusion algorithm incorporates a dynamic window approach(DWA)to deal with the local path planning,sets a retracement mechanism,and adjusts the evaluation function accordingly.Experimental results in two environments demonstrate that the improved ant colony system(IACS)achieves superior planning efficiency.Additionally,the optimized dynamic window approach(ODWA)demonstrates its ability to handle multiple dynamic situations.Overall,the fusion optimization algorithm can accomplish the mixed path planning effectively.

Study on dynamic response of high speed train window glass under tunnel aerodynamic effects

Purpose-This paper aims to analyze the bearing characteristics of the high speed train window glass under aerodynamic load effects.Design/methodology/approach-In order to obtain the dynamic strain response of passenger compartment window glass during high-speed train crossing the tunnel,taking the passenger compartment window glass of the CRH3 high speed train onWuhan-Guangzhou High Speed Railway as the research object,this study tests the strain dynamic response and maximum principal stress of the high speed train passing through the tunnel entrance and exit,the tunnel and tunnel groups as well as trains meeting in the tunnel at an average speed of 300 km$h-1.Findings-The results show that while crossing the tunnel,the passenger compartment window glass of high speed train is subjected to the alternating action of positive and negative air pressures,which shows the typical mechanic characteristics of the alternating fatigue stress of positive-negative transient strain.The maximum principal stress of passenger compartment window glass for high speed train caused by tunnel aerodynamic effects does not exceed 5 MPa,and the maximum value occurs at the corresponding time of crossing the tunnel groups.The high speed train window glass bears medium and low strain rates under the action of tunnel aerodynamic effects,while the maximum strain rate occurs at the meeting moment when the window glass meets the train head approaching from the opposite side in the tunnel.The shear modulus of laminated glass PVB film that makes up high speed train window glass is sensitive to the temperature and action time.The dynamically equivalent thickness and stiffness of the laminated glass and the dynamic bearing capacity of the window glass decrease with the increase of the action time under tunnel aerodynamic pressure.Thus,the influence of the loading action time and fatigue under tunnel aerodynamic effects on the glass strength should be considered in the design for the bearing performance of high speed train window glass.Originality/value-The research results provide data support for the analysis of mechanical characteristics,damage mechanism,strength design and structural optimization of high speed train glass.

Nonlinear dynamics in Divisia monetary aggregates:an application of recurrence quantification analysis

We construct recurrence plots(RPs)and conduct recurrence quantification analysis(RQA)to investigate the dynamic properties of the new Center for Financial Stability(CFS)Divisia monetary aggregates for the United States.In this study,we use the lat-est vintage of Divisia aggregates,maintained within CFS.We use monthly data,from January 1967 to December 2020,which is a sample period that includes the extreme economic events of the 2007–2009 global financial crisis.We then make comparisons between narrow and broad Divisia money measures and find evidence of a nonlinear but reserved possible chaotic explanation of their origin.The application of RPs to broad Divisia monetary aggregates encompasses an additional drift structure around the global financial crisis in 2008.Applying the moving window RQA to the growth rates of narrow and broad Divisia monetary aggregates,we identify periods of changes in data-generating processes and associate such changes to monetary policy regimes and financial innovations that occurred during those times.

Dynamic Analysis of Flexible Multibody Systems for High-Rise Building Window Cleaning Gondola

A virtual prototype of high-rise building window cleaning gondola based on multibody system dynamics software MS（2. ADAMS is presented. The rigid bodies are modeled by CAD software and flexible bodies are modeled by discrete beam method. The whole machine＇s natural characteristics are analyzed and changed to frequency field. According to the results, the dangerous frequencies are avoided and the design can be optimized and the performance can be improved.

Effect of the Energy Window Width on the Estimation of Renal Function from Dynamic Renal Scintigraphy with ^99mTc-MAG3

Objective: The width of the photopeak energy window influences the image quality and quantitative accuracy of gamma camera imaging. We compared 20% and 15% energy windows in renal scintigraphy with 99mTc-mercaptoacetyltriglycine (MAG3), especially in terms of camera-based quantitative estimation of renal function. Materials and Methods: Forty patients who underwent dynamic renal scintigraphy with 99mTc-MAG3 were enrolled in this study. Images were acquired simultaneously using two energy windows centered at 140 keV and with widths of 20% and 15%. Fractional renal uptake was calculated as the ratio of initial renal uptake estimated by patient imaging to injected dose estimated by syringe imaging, and was converted to MAG3 clearance using an empirical equation determined previously from data obtained with a 20% energy window. Relative function of the right kidney was also assessed. Visual evaluation was performed to compare image quality between the 20% and 15% energy windows. Results: Both total kidney MAG3 clearance and relative function of the right kidney were identical between the 20% and 15% energy windows. Image quality was also similar irrespective of the energy window width. Conclusions: The camera-based method established using a 20% energy window is applicable for the estimation of renal function using a 15% energy window, and data obtained using 20% and 15% windows are interchangeable.

The Dynamic Relationship of Brain Networks Across Time Windows During Product-Based Creative Thinking

Consensus of creativity research suggests that the measurement of both originality and valuableness is necessary when designing creativity tasks.However,few studies have emphasized valuableness when exploring underlying neural substrates of creative thinking.The present study employs product-based creativity tasks that measure both originality and valuableness in an exploration of the dynamic relationship between the default mode(DMN),executive control(ECN),and salience(SN)networks through time windows.This methodology highlights relevance,or valuableness,in creativity evaluation as opposed to divergent thinking tasks solely measuring originality.The researchers identified seven brain regions belonging to the ECN,DMN,and SN as regions of interest(ROIs),as well as four representative seeds to analyze functional connectivity in 25 college student participants.Results showed that all of the identified ROIs were involved during the creative task.The insula,precuneus,and ventrolateral prefrontal cortex(vlPFC)remained active across all stages of product-based creative thinking.Moreover,the connectivity analyses revealed varied interaction patterns of DMN,ECN,and SN at different thinking stages.The integrated findings of the whole brain,ROI,and connectivity analyses suggest a trend that the DMN and SN(which relate to bottom-up thinking)attenuate as time proceeds,whereas the vlPFC(which relates to top-down thinking)gets stronger at later stages;these findings reflect the nature of our creativity tasks and decision-making of valuableness in later stages.Based on brain region activation throughout execution of the task,we propose that product-based creative process may include three stages:exploration and association,incubation and insight,and finally,evaluation and decision making.This model provides a thinking frame for further research and classroom instruction.

Crack detection using integrated signals from dynamic responses of girder bridges

An innovative approach for the identification of cracks from the dynamic responses of girder bridges was proposed.One of the key steps of the approach was to transform the dynamical responses into the equivalent static quantities by integrating the excitation and response signals over time.A sliding-window least-squares curve fitting technique was then utilized to fit a cubic curve for a short segment of the girder.The moment coefficient of the cubic curve can be used to detect the locations of multiple cracks along a girder bridge.To validate the proposed method,prismatic girder bridges with multiple cracks of various depths were analyzed.Sensitivity analysis was conducted on various effects of crack depth,moving window width,noise level,bridge discretization,and load condition.Numerical results demonstrate that the proposed method can accurately detect cracks in a simply-supported or continuous girder bridges,the five-point equally weighted algorithm is recommended for practical applications,the spacing of two discernable cracks is equal to the window length,and the identified results are insensitive to noise due to integration of the initial data.

采用社会约束自适应动态窗口法的服务机器人路径规划

针对传统动态窗口法在行人密集环境下动态路径规划存在灵活性差、效率低、安全性缺乏等问题,提出一种社会交互空间下基于社会约束自适应动态窗口法(social_DWA),并采用其解决服务机器人局部路径规划问题。首先,采用非对称高斯公式对单行人以及多人群组交互空间进行模型化描述;其次,在传统动态窗口法的基础上,采用动态行人方位角约束对动态行人进行避让;改进距离评价函数,分类决策与行人、多人群组、一般障碍物的安全距离;最后,提出速度权重自适应调整策略,优化服务机器人在途经不同密集度社会交互区域时的移动速度。为验证算法有效性,在两种模拟社会场景下,先后开展了social_DWA算法与传统DWA算法、FIDWA算法的路径规划仿真对比实验。结果表明:采用social_DWA算法所消耗的运动时间在场景1中较传统DWA和FIDWA算法分别缩短了1.53、0.43 s,在场景2中较传统DWA和FIDWA算法分别缩短了26.3、2.86 s;相较于传统DWA算法和FIDWA算法,social_DWA算法能保持有效的行人安全距离,并使运行轨迹更加合理。social_DWA算法在行人避让、环境适应能力等方面具有一定的优越性。

基于A^(*)-动态窗口法的无人船动态路径规划算法

为使无人船在复杂的海上环境具备自主路径规划能力,保证其能够在未知环境中避开障碍物并准确到达目的地,结合A^(*)算法的全局最优特性和动态窗口法的实时性,提出了一种新的无人船动态路径规划算法。将A^(*)算法规划的路径点作为动态窗口法的局部目标点,并在中间路径点不可达时及时重新规划全局路径,形成了A^(*)-动态窗口法。动态环境下的仿真结果表明:该融合算法能引导无人船通过平滑的路径顺利到达目标点,证明了该算法的合理性和有效性,而与多种传统算法的对比结果,验证了所提A^(*)-动态窗口法的优越性。

近海复杂环境下UUV动态路径规划方法研究

为解决近海环境下水下无人航行器(unmanned underwater vehicle,UUV)的动态路径规划问题,本文提出一种结合全局和局部动态路径规划的算法。首先,本文提出一种基于自适应目标引导的快速拓展随机树算法,以增加随机树生长的方向性,并通过转向和重选策略减少无效拓展加快算法的收敛速度。接着,获得全局路径之后使用自适应子节点选取策略获取动态窗口法的子目标点,将复杂的全局动态任务规划分解为多个简单的动态路劲规划,从而防止动态窗口法陷入局部极小值。最后,通过UUV出港任务仿真实验验证了算法的有效性和实用性。

基于时间窗的机场地面保障车辆动态调度

机场各类地面资源的优化配置是机场场面运行优化的核心问题,而机场地面保障任务的调度是其中的关键一环。针对机场地面保障车辆的调度问题,考虑航班延误、提前等情况,构建了双阶段机场地面保障车辆调度模型,并设计双阶段启发式算法进行求解;基于中国某大型机场的实际运行数据,以清水车和食品车调度为例分别进行仿真实验。结果表明:对比先到先服务策略,清水车行驶总距离减少55.31%,食品车行驶总距离减少47.38%;对比传统遗传算法,清水车行驶总距离减少19.31%,食品车行驶总距离减少22.93%;动态调整后,清水车新增总行驶距离1.2%,食品车总行驶距离新增3.2%,均在可接受范围之内。可见,双阶段机场地面保障车辆调度模型能提高大型机场场面运行效率,为机场航班实际地面保障任务调度提供理论依据和决策支持。

基于改进哈里斯鹰优化算法的动态路径规划研究

针对传统栅格地图下的路径规划算法存在多峰值优化、无法实时避障等问题,提出了一种基于改进哈里斯鹰优化算法的动态路径规划方法。首先,提出方形邻格邻近扩散方法初始化哈里斯鹰种群位置,在路径规划问题模型下增加种群多样性;然后,提出一种非线性能量因子优化算法在搜索和开发之间的更新比例,提高全局搜索性能;最后,引入动态窗口法提高机器人实际运行路径的平滑程度,构造结合全局路径的动态窗口评价函数以改善动态窗口法前瞻性不足的问题。实验结果表明,所提方法可以兼顾实时避障和路径最优的需求。

煤矿履带式定向钻机路径规划算法

煤矿履带式定向钻机路径规划过程中存在机身体积约束和实际场景下的行驶效率需求,而常用的A^(*)算法搜索速度慢、冗余节点多,且规划路径贴近障碍物、平滑性较差。提出一种以改进A^(*)算法规划全局路径、融合动态窗口法(DWA)规划局部路径的煤矿履带式定向钻机路径规划算法。考虑定向钻机尺寸影响,在传统A^(*)算法中引入安全扩展策略,即在定向钻机和巷道壁、障碍物之间加入安全距离约束,以提高规划路径的安全性;对传统A^(*)算法的启发函数进行自适应权重优化,同时将父节点的影响加入到启发函数中,以提高全局路径搜索效率;利用障碍物检测原理对经上述改进后的A^(*)算法规划路径剔除冗余节点,并使用分段三次Hermite插值进行二次平滑处理,得到全局最优路径。将改进A^(*)算法与DWA融合,进行煤矿井下定向钻机路径规划。利用Matlab对不同工况环境下定向钻机路径规划算法进行仿真对比分析,结果表明:与Dijkstra算法和传统A^(*)算法相比,改进A^(*)算法在保证安全距离的前提下,加快了搜索速度,搜索时间分别平均减少88.5%和63.2%,且在一定程度上缩短了规划路径的长度,路径更加平滑;改进A^(*)算法与DWA融合算法可有效躲避改进A^(*)算法规划路径上的未知障碍物,路径长度较PRM算法和RRT^(*)算法规划的路径分别平均减小5.5%和2.9%。

基于Ansys Workbench的双桁架码垛机械手动态性能分析

为了提高定制化门窗材码垛分类的效率,以双桁架码垛机械手为基础对静态、动态性能进行分析以满足定制化门窗材的码垛效率。针对双桁架码垛机械手在分类码垛过程中存在多种运动状态,在双桁架码垛机械手静态性能满足刚度和强度的基础上对其动态特性进行分析,动态特性分析采用模态和谐波响应方法。通过对双桁架码垛机械手的动态分析,得到了其在两个机械手不同频段时X、Y、Z向的位移量,通过响应曲线明确了频段对位移量的影响规律。两个机械手的响应曲线在规避特殊频率段以提高码垛效率、促进分类码垛的智能化发展具有重要意义。

融合改进A^(*)算法与动态窗口法的移动机器人路径规划

为解决移动机器人在随机障碍物环境的导航过程中,使用A星(简称A^(*))算法出现碰撞导致路径规划失败的问题,设计了一种融合改进A_(*)算法和动态窗口法(dynamic window approach,DWA)的全局动态路径规划方法。首先,从以下两方面改进传统A^(*)算法:混合使用4邻域和8邻域A^(*)搜索算法,与通过删除冗余路径点和转折点来提高路径的平滑性;接着将改进A^(*)算法与DWA融合,利用融合算法使移动机器人进行全局实时动态路径规划。Matlab仿真试验结果表明,改进后的A^(*)算法较传统A^(*)算法不会使机器人穿越障碍物及其顶点,这有效减少了碰撞,从而提高了安全性;融合DWA后,在获得全局最优路径的基础上,能避开静态随机障碍物和动态障碍物,这证明了融合算法有良好的路径规划能力。

动态价格约束下生鲜无人零售点选址-路径方法研究

“新零售”创新了生鲜无人零售的渠道和销售模式,通过研究网络化无人售货的技术优势,引入在线动态定价机制,解决了生鲜无人销售品控难、客户黏度低的问题,有效减低了系统综合成本;同时构建了一种面向生鲜商品的无人零售的干线和支线混杂配送模型,在多目标求解、问题解耦和PSO全局优化等方面进行突破,建立了一种动态价格约束下的带时间窗选址-路径二级运输模型(2E-dPLRPTW),并进行了案例验算,确认该方法能有效提升生鲜商品无人售卖的效益。

融合改进A^(*)算法和优化动态窗口法的路径规划

针对传统A^(*)算法在栅格数量较多时存在折点多、耗时长,以及动态窗口法在复杂环境下灵活性差的问题,提出一种融合改进A^(*)算法和优化动态窗口法的路径规划算法。首先,在传统栅格地图上建立一层粒度值更大的拓扑层地图,接着将拓扑层规划出的路径在栅格地图上进行优化,删除冗余节点、提高路径平滑度。通过增加机器人在不同场景下的运动状态来优化动态窗口法。最后,将全局规划的关键点作为局部规划的临时目标点,实现两种算法的融合。通过对比试验,证明融合算法不仅保证了全局路径较优而且减少了折点数、耗费时间,还提高了机器人在动态环境下路径的平滑度和灵活性。

MATLAB数学库与Windows应用程序间接口库的设计

论述了如何在Visual C++开发环境中，以Windows DDL技术为核心技术，建立MATLAB数学库与Windows应用程序间接口库的方法，并分别以VC和VB开发环境为例，详细说明了如何在类C语言（VC、VB、Dephi、Power Builder等）开发环境中引用该接口库。

Windows动态链接库原理分析及其应用

深入分析了Windows动态链接库 (DLL)的内部原理 ,阐述了DLL的动态链接、地址映射、引用计数等特性 ,介绍了创建和调用动态链接库的方法和技巧 ,为工程人员开发和使用动态链接库提供了一定的技术支持。

基于动态规划制导的无人艇自主回收控制方法

[目的]针对欠驱动无人艇(USV)自主回收的需求,提出一种基于动态规划制导的跟踪控制方法。[方法]在运动学层面,将平行接近制导(CB)与动态窗口算法(DWA)相结合,引导USV实现目标跟踪与动态避障;在动力学层面,针对模型参数及回收环境的不确定性,采用径向基函数神经网络(RBFNN)设计动力学滑模控制器,实现对制导输出的跟踪控制。随后,采用Lyapunov理论对系统的稳定性进行分析。[结果]仿真结果表明,所提方法使USV具备了稳定跟踪性能,可有效规避回收过程中的动态障碍,并能自适应估计模型中的不确定因素和未知的环境干扰。[结论]所提方法展现出较强的鲁棒性与灵活性,可为USV在动态环境下的回收进行制导与目标跟踪提供参考。