Research on the Collision-Free Path Planning of Multi-AGVs System Based on Improved A* Algorithm

Path planning problem is the core and hot research topic of multiple Automatic Guided Vehicles (multi-AGVs) system. Although there are many research results, they do not solve the path planning problem from the perspective of reducing traffic congestion. A collision-free path planning method based on improved A* Algorithm for multi-AGVs logistics sorting system is proposed in this paper. In the method, the environment of warehouse operation for AGVs is described by using grid method. The estimated cost of A* algorithm is improved by adding the penalty value of the paths that AGVs share with each other to alleviate traffic congestion and collision resolution rules are made according to different types of collisions. Then the collision-free path planning is done by combing the improved A* algorithm and collision resolution rules. The sorting efficiency of the method is compared with that of original A* algorithm. Simulation results show that the new collision-free path planning method can improve the sorting efficiency of multi-AGVs system and relieve traffic congestion.

Electron inelastic mean free paths in solids:A theoretical approach

In the present paper, the inelastic mean free path （IMFP） of incident electrons is calculated as a function of energy for silicon （Si）, oxides of silicon （SiO2）, SiO, and A1203 in bulk form by employing atomic/molecular inelastic cross sections derived by using a semi-empirical quantum mechanical method developed earlier. A general agreement of the present results is found with most of the available data. It is of great importance that we have been able to estimate the minimum IMFP, which corresponds to the peak of inelastic interactions of incident electrons in each solid investigated. New results are presented for SiO, for which no comparison is available. The present work is important in view of the lack of experimental data on the IMFP in solids.

The anisotropy of free path in a vibro-fluidized granular gas

The free path of a vibro-fluidized two-dimensional（2D） inelastic granular gas confined in a rectangular box is investigated by 2D event-driven molecular simulation. By tracking particles in the simulation, we analyze the local free path.The probability distribution of the free path shows a high tail deviating from the exponential prediction. The anisotropy of the free path is found when we separate the free path to x and y components. The probability distribution of y component is exponential, while x component has a high tail. The probability distribution of angle between the relative velocity and the unit vector joined two particle centers deviates from the distribution of two random vectors, indicating the existence of the dynamic heterogeneities in our system. We explain these results by resorting to the kinetic theory with two-peak velocity distribution. The kinetic theory agrees well with the simulation result.

A mean free path approach to the micro/nanochannel gas flows

We investigate the gas flows near to solid surfaces in terms of the local spatial variation in the molecular mean free path(MFP).Molecular dynamics(MD)is the appropriate scientific tool for obtaining molecularly-accurate dynamic information in micro and nano-scale gas flows,and has been used to evaluate the molecular mean free path of gases.In the calibration procedure,the viscosity of a gas in the homogeneous case can be recovered in our MD simulations and reach good agreement with the theoretical prediction and data from NIST.In surface-bounded gas flows,if the collisions between gas molecules and walls are counted,a spatially-varying mean free path is presented,and for the first time we have observed that the distribution of the free paths deviates from the exponential one and spikes appear in their distributions at larger Kn,i.e.in the transition flow regime.Based on elementary kinetic theory,the effective viscosity of the gas derived from the mean free path has been incorporated into the framework of the continuum-fluid dynamics equations,and micro-Couette flows are performed to demonstrate this potential application.

Isotope effect of the phonons mean free path in graphene by micro-Raman measurement

The isotope labeled graphene was synthesized in the concentration of 13 C carbon atom in 1%, 25%, 50%, 75% and 99%. The isotope effect on the phonon behavior in graphene was investigated based on the micro-Raman analysis of 13 C isotope labeled graphene samples. We found that the phonon scattering is affected by the isotopic carbon atom as a point defect. Based on the experiment results, the Klemens-Callaway model and uncertainty principle were used to obtain the mean free path of the G and D phonons. The results agree with the thermal conductivity measurement by non-contact optical method and with other theoretical calculations.

Radiation mean free path for non-LTE fully ionized medium

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Generalized minimum information path routing strategy on scale-free networks

This paper presents a new routing strategy by introducing a tunable parameter into the minimum information path routing strategy we proposed previously. It is found that network transmission capacity can be considerably enhanced by adjusting the parameter with various allocations of node capability for packet delivery. Moreover, the proposed routing strategy provides a traffic load distribution which can better match the allocation of node capability than that of traditional efficient routing strategies, leading to a network with improved transmission performance. This routing strategy, without deviating from the shortest-path routing strategy in the length of paths too much, produces improved performance indexes such as critical generating rate, average length of paths and average search information.

Longest Paths and Cycles in Connected Claw-Free Graphs

A graph is called claw-free if it does not contain a claw as its induced subgraph.In this paper, we prove the following results:1)If G is a 2-connected claw-free graph on n vertices,then for any vertex v and any two distinct vertices x and y in V(G)-{v},G has a path containing v and all neighbors of v and connecting x and y;2) Let C be the longest cycle in a 3-connected claw-free graph G and H a component of G-C,and if H is connected but not 2-connected,then there exist nonadjacent vertices u and v in H such that |V(C)|≥(3(d(u)+)d(v))-2.

Tool-path planning for free-form surface high-speed high-resolution machining using torus cutter

In CNC machining, two essential components decide the accuracy and machining time for a sculptured surface: one is the step-size interval, the other is the tool-path interval. Due to the limitation of the conventional method for calculating the tool-path interval, it cannot satisfy the machining requirement for high-speed and high-resolution machining. Accordingly, for high-speed and high-resolution machining, the current study proposes a new tool-path interval algorithm, plus a variable step-size algorithm for NURBS. Furthermore, a new type cutter, which can improve the cutting efficiency, is investigated in the paper. The transversal equation of the torus cutter onto the flat plan is given in this paper. The tool-path interval is calculated with the transversal equation and the proposed algorithm. The illustrated example shows that the redundant tool paths can be reduced because an accurate tool-path interval could be calculated.

基于电子平均自由程的金属纳米颗粒临界尺寸估算

基于金属价电子占据k空间体积与布里渊区体积之间的关系,求出费米球半径,导出电子平均自由程的计算公式。以Ag和Cu为例计算出电子平均自由程,与其他方法计算结果一致。当金属材料的几何尺度与电子平均自由程相当时,与之相关的物理性能会发生显著变化,从这个角度出发,用电子平均自由程尺度估算Ag和Cu的纳米尺寸临界值分别为52 nm和39 nm。这种计算思路同样适用于其他金属纳米材料。

基于STM32和UWB通信的智能搬运小车设计

针对复杂搬运场景固定导引式的智能小车运行的局限性,提出以自由路径导引式进行设计更好的满足搬运需求。利用UWB空间定位技术实现高精度目标跟随,以STM32F103VET6为主控模块,通过各种传感器模块获取信息控制左右电机,以差速驱动的方式控制小车向目标位置移动。通车安装在车身和目标体上的UWB标签模块获取的空间信息,利用定位算法能精确地获取小车相对于目标的空间位置,系统中的超声波传感器、RFID标签传感器、磁条传感器和防撞条等获取多种信息,保障小车能以自由路径导引模式向目标移动。经过测试智能小车在手动模式、跟随模式和循迹模式下,无论空载或负中都能在低中高速下保持良好运行状态,能适应多种复杂场景作业,对于工业自动化具有重要的意义。

改进DeepLabV3+算法提取无作物田垄导航线

机器视觉导航是智慧农业的重要部分,无作物田垄的导航线检测是旱地移栽导航的关键。针对无作物田垄颜色信息相近、纹理差距小,传统图像处理方法适用性差、准确率低,语义分割算法检测速度慢、实时性差的问题,该研究提出一种基于改进DeepLabV3+的田垄分割模型。首先对传统DeepLabV3+网络进行轻量化设计,用MobileNetV2网络代替主干网络Xception,以提高算法的检测速度和实时性;接着引入CBAM(convolutional block attention module,CBAM)注意力机制,使模型能够更好地处理垄面边界信息;然后利用垄面边界信息获得导航特征点,对于断垄情况,导航特征点会出现偏差,因此利用四分位数对导航特征点异常值进行筛选,并采用最小二乘法进行导航线拟合。模型评估结果显示,改进后模型的平均像素精确度和平均交并比分别为96.27%和93.18%,平均检测帧率为84.21帧/s,优于PSPNet、U-Net、HRNet、Segformer以及DeepLabV3+网络。在不同田垄环境下,最大角度误差为1.2°,最大像素误差为9,能够有效从不同场景中获取导航线。研究结果可为农业机器人的无作物田垄导航提供参考。

基于黏性蒸馏-气相分离的冶金级粗碲提纯方法

开发一种基于黏性蒸馏-气相分离的高纯碲材料制备方法。通过调节冷凝器结构和冷凝温度,达到黏性蒸馏、控制碲优势冷凝区的目的,使挥发性差的物质留在残留物中,而硒在气相中与碲分离,实现冶金级粗碲的提纯。研究饱和蒸气压、碲分子平均自由程、不同冷凝位置的杂质分布特征以及冷凝物形貌。500 g级的实验结果表明,在5 Pa、773 K和90 min的最佳实验条件下,碲的直收率为83.40%,纯度高于99.9996%,碲优势冷凝区冷凝物中硒含量降低至2.76×10^(-4)%(质量分数)。

基于无线传播环境的无蜂窝大规模MIMO系统接入点部署优化

无蜂窝大规模多输入多输出(MIMO)系统通过在覆盖区域内部署大量的接入点(AP),可以为用户提供均匀、可靠的服务。传统的无蜂窝大规模MIMO系统采用随机部署,未考虑AP周围的路径损耗、阴影衰落散射物以及环境遮挡对覆盖质量的影响。为了考虑实际环境下无蜂窝大规模MIMO能实现均匀、一致的覆盖,提出了基于无线传播环境的AP部署方案。首先,通过混合概率路径损耗模型对无线传播环境进行表征,其次构建了以最大化平均吞吐量为目标的AP部署优化问题,最后将问题转化为马尔可夫博弈过程,并且基于多智能体深度确定性策略梯度(MADDPG)算法得出最优的AP部署策略。仿真结果表明,相比于传统的随机部署和现有AP部署策略,所提方案可明显改善复杂环境下的非均匀覆盖问题,为用户提供良好一致的均匀覆盖。

改进海洋捕食者算法的机器人路径规划研究

为解决海洋捕食者算法(MPA)收敛速度慢、收敛精度低、易陷入局部最优的问题,提出一种多策略改进海洋捕食者算法(IMPA)。引入Logistic混沌映射初始化种群,增加捕食者种群多样性;基于当前迭代次数t的自适应移动步长动态调整策略,增强算法逃离局部最优的能力;在IMPA迭代后期,加入中垂线算法(MA),基于中垂线策略的游离粒子位置更新方法,能够加快更新捕食者的位置,增强算法的寻优速度和寻优精度,避免算法陷入局部最优。最后通过改变IMPA阶段转换寻优过程,进一步平衡搜索过程,加强全局与局部适应性。选用6个基准测试函数对算法性能进行测试,测试结果显示:IMPA收敛速度更快,收敛精度更高;最后将改进算法应用于移动机器人路径规划,仿真结果表明:该算法规划的路径长度更短,搜索效率更高。

自贸港建设背景下高职院校图书馆信息服务企业创新路径研究

我国自贸港建设战略的实施对现代服务业的发展提出了新的更高要求。作为培养高端技术技能人才和提供智力支持的重要基地,高等职业院校图书馆应主动适应这一形势,通过加强信息服务企业创新,为地方服务贸易发展贡献力量。文章首先阐述了自贸港建设与高职图书馆信息服务企业创新的关系。随后分析了高职图书馆信息服务企业创新的现状。在此基础上,文章提出了相关对策建议,希望可以为推进高职图书馆信息服务企业创新提供决策参考。

习近平关于中国特色自由贸易港的重要论述研究

建设中国特色自由贸易港是习近平总书记亲自谋划、亲自部署、亲自推动的改革开放重大举措。2018年4月以来,习近平总书记对中国特色自由贸易港建设作出一系列重要讲话和指示批示,提出了中国特色自由贸易港建设的基本考量、基本原则、主要目标、重点任务、方法步骤等,形成习近平关于中国特色自由贸易港的重要论述。习近平关于中国特色自由贸易港的重要论述是习近平新时代中国特色社会主义思想的有机组成部分,为海南自由贸易港建设指明了根本遵循,对推进和拓展新时代中国式现代化具有重要意义。

模拟退火遗传算法在自由曲面数控加工中的实验

在自由曲面的加工中,一直面临着加工时间长的问题,本研究以提高加工效率为目的,通过分析待加工自由曲面的面曲率、残余高度等参数,计算出合理的加工步长和行距,并以此为依据将待加工曲面离散成点云即为刀触点。将刀具路径规划问题转化为求解TSP问题的最优解,为避免遗传算法早熟陷入局部最优解,引入了模拟退火算法进行改进,使用改进后的混合算法进行刀具路径寻优。对优化方法进行了仿真加工、实验加工及测量,结果表明优化方法相比传统方法刀路长度最多减少303.4mm,相对缩短了12.3%,加工效率提升较为明显,并且加工表面也取得了较好的加工效果。

Motzkin树叶点的计数

本文主要研究了n条边的Motzkin树的叶点总数.分别利用符号化方法和双射证明了n条边的Motzkin树的叶点总数与长度为n的自由的Motzkin路的个数相等.利用这个双射也可以得到n个内点的完全二元树的叶点总数,并且给出了半长为n的且有k个峰的Dyck路的个数是Narayana数这一结论一个新的证明.