A novel approach for collision-free path planning of a multiple degree-of-freedom （DOF） articulated robot in a complex environment is proposed. Firstly, based on visual neighbor point （VNP）, a numerical artificial...A novel approach for collision-free path planning of a multiple degree-of-freedom （DOF） articulated robot in a complex environment is proposed. Firstly, based on visual neighbor point （VNP）, a numerical artificial potential field is constructed in Cartesian space, which provides the heuristic information, effective distance to the goal and the motion direction for the motion of the robot joints. Secondly, a genetic algorithm, combined with the heuristic rules, is used in joint space to determine a series of contiguous configurations piecewise from initial configuration until the goal configuration is attained. A simulation shows that the method can not only handle issues on path planning of the articulated robots in environment with complex obstacles, but also improve the efficiency and quality of path planning.展开更多
A dynamic advanced planning and scheduling （DAPS） problem is addressed where new orders arrive on a continuous basis. A periodic policy with frozen interval is adopted to increase stability on the shop floor. A gene...A dynamic advanced planning and scheduling （DAPS） problem is addressed where new orders arrive on a continuous basis. A periodic policy with frozen interval is adopted to increase stability on the shop floor. A genetic algorithm is developed to find a schedule at each rescheduling point for both original orders and new orders that both production idle time and penalties on tardiness and earliness of orders are minimized. The proposed methodology is tested on a small example to illustrate the effect of the frozen interval. The results indicate that the suggested approach can improve the schedule stability while retaining efficiency.展开更多
The primary focus of this paper is to design a progressive restoration plan for an enterprise data center environment following a partial or full disruption. Repairing and restoring disrupted components in an enterpri...The primary focus of this paper is to design a progressive restoration plan for an enterprise data center environment following a partial or full disruption. Repairing and restoring disrupted components in an enterprise data center requires a significant amount of time and human effort. Following a major disruption, the recovery process involves multiple stages, and during each stage, the partially recovered infrastructures can provide limited services to users at some degraded service level. However, how fast and efficiently an enterprise infrastructure can be recovered de- pends on how the recovery mechanism restores the disrupted components, considering the inter-dependencies between services, along with the limitations of expert human operators. The entire problem turns out to be NP- hard and rather complex, and we devise an efficient meta-heuristic to solve the problem. By considering some real-world examples, we show that the proposed meta-heuristic provides very accurate results, and still runs 600-2800 times faster than the optimal solution obtained from a general purpose mathematical solver [1].展开更多
文摘A novel approach for collision-free path planning of a multiple degree-of-freedom （DOF） articulated robot in a complex environment is proposed. Firstly, based on visual neighbor point （VNP）, a numerical artificial potential field is constructed in Cartesian space, which provides the heuristic information, effective distance to the goal and the motion direction for the motion of the robot joints. Secondly, a genetic algorithm, combined with the heuristic rules, is used in joint space to determine a series of contiguous configurations piecewise from initial configuration until the goal configuration is attained. A simulation shows that the method can not only handle issues on path planning of the articulated robots in environment with complex obstacles, but also improve the efficiency and quality of path planning.
基金This project is supported by the Hong Kong Polytechnic University,China(No,G-RGF9).
文摘A dynamic advanced planning and scheduling （DAPS） problem is addressed where new orders arrive on a continuous basis. A periodic policy with frozen interval is adopted to increase stability on the shop floor. A genetic algorithm is developed to find a schedule at each rescheduling point for both original orders and new orders that both production idle time and penalties on tardiness and earliness of orders are minimized. The proposed methodology is tested on a small example to illustrate the effect of the frozen interval. The results indicate that the suggested approach can improve the schedule stability while retaining efficiency.
文摘The primary focus of this paper is to design a progressive restoration plan for an enterprise data center environment following a partial or full disruption. Repairing and restoring disrupted components in an enterprise data center requires a significant amount of time and human effort. Following a major disruption, the recovery process involves multiple stages, and during each stage, the partially recovered infrastructures can provide limited services to users at some degraded service level. However, how fast and efficiently an enterprise infrastructure can be recovered de- pends on how the recovery mechanism restores the disrupted components, considering the inter-dependencies between services, along with the limitations of expert human operators. The entire problem turns out to be NP- hard and rather complex, and we devise an efficient meta-heuristic to solve the problem. By considering some real-world examples, we show that the proposed meta-heuristic provides very accurate results, and still runs 600-2800 times faster than the optimal solution obtained from a general purpose mathematical solver [1].
