KNOT POINT PLANNING FOR CARTESIAN TRAJECTORY GENERATION BASED ON INHERITANCE BISECTION ALGORITHM

The computation algorithm of knot point planning for Cartesian trajectorygeneration of manipulator is investigated, A novel inheritance bisection algorithm (IBA) based onconventional bisection algorithm (B A) is proposed. IBA has two steps. The first step is the 1 stknot point planning under lower set position accuracy; the second step is the 2nd knot pointplanning that inherits the results of the 1st planning under higher set position accuracy. Thesimulation results reveal that the number of inverse kinematical calculation (IKC) caused by IBA isdecreased compared with BA. IBA is more efficient to plan knot points.

Parallel Solutions for Large-Scale General Sparse Nonlinear Systems of Equations

In solving application problems, many largesscale nonlinear systems of equations result in sparse Jacobian matrices. Such nonlinear systems are called sparse nonlinear systems. The irregularity of the locations of nonzero elements of a general sparse matrix makes it very difficult to generally map sparse matrix computations to multiprocessors for parallel processing in a well balanced manner. To overcome this difficulty, we define a new storage scheme for general sparse matrices in this paper. With the new storage scheme, we develop parallel algorithms to solve large-scale general sparse systems of equations by interval Newton/Generalized bisection methods which reliably find all numerical solutions within a given domain.In Section 1, we provide an introduction to the addressed problem and the interval Newton's methods. In Section 2, some currently used storage schemes for sparse sys-terns are reviewed. In Section 3, new index schemes to store general sparse matrices are reported. In Section 4, we present a parallel algorithm to evaluate a general sparse Jarobian matrix. In Section 5, we present a parallel algorithm to solve the correspond-ing interval linear 8ystem by the all-row preconditioned scheme. Conclusions and future work are discussed in Section 6.

Time-of-use Pricing Model Considering Wind Power Uncertainty

Large-scale new energy pressures on the grids bring challenges to power system's security and stability.In order to optimize the user's electricity consumption behavior and ease pressure,which is caused by new energy on the grid,this paper proposes a time-of-use price model that takes wind power uncertainty into account.First,the interval prediction method is used to predict wind power.Then typical wind power scenes are selected by random sampling and bisecting the K-means algorithm.On this basis,integer programming is used to divide the peak-valley period of the multi-scenes load.Finally,under the condition of many factors such as user response based on consumer psychology,user electricity charge and power consumption,this paper takes the peak-valley difference of equivalent net load and the user dissatisfaction degree as the goal,and using the NSGA-II multi-objective optimization algorithm,evaluates the Pareto solution set to obtain the optimal solution.In order to test the validity of the model proposed in this paper,we apply it to an industrial user and wind farms in Yan'an city,China.The results show that the model can effectively ensure the user's electrical comfort while achieving the role of peak shaving and valley flling.

Distances Between Phylogenetic Trees: A Survey

Phylogenetic trees have been widely used in the study of evolutionary biology for representing the tree-like evolution of a collection of species. However, different data sets and different methods often lead to the construction of different phylogenetic trees for the same set of species. Therefore, comparing these trees to determine similarities or, equivalently, dissimilarities, becomes the fundamental issue. Typically, Tree Bisection and Reconnection（TBR）and Subtree Prune and Regraft（SPR） distances have been proposed to facilitate the comparison between different phylogenetic trees. In this paper, we give a survey on the aspects of computational complexity, fixed-parameter algorithms, and approximation algorithms for computing the TBR and SPR distances of phylogenetic trees.