An Improved Iterated Greedy Algorithm for Solving Rescue Robot Path Planning Problem with Limited Survival Time

Effective path planning is crucial for mobile robots to quickly reach rescue destination and complete rescue tasks in a post-disaster scenario.In this study,we investigated the post-disaster rescue path planning problem and modeled this problem as a variant of the travel salesman problem(TSP)with life-strength constraints.To address this problem,we proposed an improved iterated greedy(IIG)algorithm.First,a push-forward insertion heuristic(PFIH)strategy was employed to generate a high-quality initial solution.Second,a greedy-based insertion strategy was designed and used in the destruction-construction stage to increase the algorithm’s exploration ability.Furthermore,three problem-specific swap operators were developed to improve the algorithm’s exploitation ability.Additionally,an improved simulated annealing(SA)strategy was used as an acceptance criterion to effectively prevent the algorithm from falling into local optima.To verify the effectiveness of the proposed algorithm,the Solomon dataset was extended to generate 27 instances for simulation.Finally,the proposed IIG was compared with five state-of-the-art algorithms.The parameter analysiswas conducted using the design of experiments(DOE)Taguchi method,and the effectiveness analysis of each component has been verified one by one.Simulation results indicate that IIGoutperforms the compared algorithms in terms of the number of rescue survivors and convergence speed,proving the effectiveness of the proposed algorithm.

Calculation of Mass Concrete Temperature Containing Cooling Water Pipe Based on Substructure and Iteration Algorithm

Mathematical physics equations are often utilized to describe physical phenomena in various fields of science and engineering.One such equation is the Fourier equation,which is a commonly used and effective method for evaluating the effectiveness of temperature control measures for mass concrete.One important measure for temperature control in mass concrete is the use of cooling water pipes.However,the mismatch of grids between large-scale concrete models and small-scale cooling pipe models can result in a significant waste of calculation time when using the finite element method.Moreover,the temperature of the water in the cooling pipe needs to be iteratively calculated during the thermal transfer process.The substructure method can effectively solve this problem,and it has been validated by scholars.The Abaqus/Python secondary development technology provides engineers with enough flexibility to combine the substructure method with an iteration algorithm,which enables the creation of a parametric modeling calculation for cooling water pipes.This paper proposes such a method,which involves iterating the water pipe boundary and establishing the water pipe unit substructure to numerically simulate the concrete temperature field that contains a cooling water pipe.To verify the feasibility and accuracy of the proposed method,two classic numerical examples were analyzed.The results showed that this method has good applicability in cooling pipe calculations.When the value of the iteration parameterαis 0.4,the boundary temperature of the cooling water pipes can meet the accuracy requirements after 4∼5 iterations,effectively improving the computational efficiency.Overall,this approach provides a useful tool for engineers to analyze the temperature control measures accurately and efficiently for mass concrete,such as cooling water pipes,using Abaqus/Python secondary development.

Vibration Suppression for Active Magnetic Bearings Using Adaptive Filter with Iterative Search Algorithm

Active Magnetic Bearing(AMB) is a kind of electromagnetic support that makes the rotor movement frictionless and can suppress rotor vibration by controlling the magnetic force. The most common approach to restrain the rotor vibration in AMBs is to adopt a notch filter or adaptive filter in the AMB controller. However, these methods cannot obtain the precise amplitude and phase of the compensation current. Thus, they are not so effective in terms of suppressing the vibrations of the fundamental and other harmonic orders over the whole speed range. To improve the vibration suppression performance of AMBs,an adaptive filter based on Least Mean Square(LMS) is applied to extract the vibration signals from the rotor displacement signal. An Iterative Search Algorithm(ISA) is proposed in this paper to obtain the corresponding relationship between the compensation current and vibration signals. The ISA is responsible for searching the compensating amplitude and shifting phase online for the LMS filter, enabling the AMB controller to generate the corresponding compensation force for vibration suppression. The results of ISA are recorded to suppress vibration using the Look-Up Table(LUT) in variable speed range. Comprehensive simulations and experimental validations are carried out in fixed and variable speed range, and the results demonstrate that by employing the ISA, vibrations of the fundamental and other harmonic orders are suppressed effectively.

Effective Iterated Greedy Algorithm for Flow-Shop Scheduling Problems with Time lags

Flow shop scheduling problem with time lags is a practical scheduling problem and attracts many studies. Permutation problem（PFSP with time lags） is concentrated but non-permutation problem（non-PFSP with time lags） seems to be neglected. With the aim to minimize the makespan and satisfy time lag constraints, efficient algo- rithms corresponding to PFSP and non-PFSP problems are proposed, which consist of iterated greedy algorithm for permutation（IGTLP） and iterated greedy algorithm for non-permutation （IGTLNP）. The proposed algorithms are verified using well-known simple and complex instances of permutation and non-permutation problems with various time lag ranges. The permutation results indicate that the proposed IGTLP can reach near optimal solution within nearly 11% computational time of traditional GA approach. The non-permutation results indicate that the proposed IG can reach nearly same solution within less than 1% com- putational time compared with traditional GA approach. The proposed research combines PFSP and non-PFSP together with minimal and maximal time lag consideration, which provides an interesting viewpoint for industrial implementation.

Dimension-down iterative algorithm for the mixed transportation network design problem

An optimal dimension-down iterative algorithm （DDIA） is proposed for solving a mixed （continuous/ discrete） transportation network design problem （MNDP）, which is generally expressed as a mathematical programming with equilibrium constraints （MPEC）. The upper level of the MNDP aims to optimize the network performance via both the expansion of existing links and the addition of new candidate links, whereas the lower level is a traditional Wardrop user equilibrium （UE） model. The idea of the proposed DDIA is to reduce the dimensions of the problem. A group of variables （discrete/continuous） are fixed to altemately optimize another group of variables （continuous/discrete）. Some continuous network design problems （CNDPs） and discrete network design problems （DNDPs） are solved repeatedly until the optimal solution is obtained. A numerical example is given to demonstrate the efficiency of the proposed algorithm.

Novel registration algorithm for 3-D images captured from multiple views of object surface

A novel algorithm of 3-D surface image registration is proposed. It makes use of the array information of 3-D points and takes vector/vertex-like features as the basis of the matching. That array information of 3-D points can be easily obtained when capturing original 3-D images. The iterative least-mean-squared （LMS） algorithm is applied to optimizing adaptively the transformation matrix parameters. These can effectively improve the registration performance and hurry up the matching process. Experimental results show that it can reach a good subjective impression on aligned 3-D images. Although the algorithm focuses primarily on the human head model, it can also be used for other objects with small modifications.

A path planning method for robot patrol inspection in chemical industrial parks

Safety patrol inspection in chemical industrial parks is a complex multi-objective task with multiple degrees of freedom.Traditional pointer instruments with advantages like high reliability and strong adaptability to harsh environment,are widely applied in such parks.However,they rely on manual readings which have problems like heavy patrol workload,high labor cost,high false positives/negatives and poor timeliness.To address the above problems,this study proposes a path planning method for robot patrol in chemical industrial parks,where a path optimization model based on improved iterated local search and random variable neighborhood descent(ILS-RVND)algorithm is established by integrating the actual requirements of patrol tasks in chemical industrial parks.Further,the effectiveness of the model and algorithm is verified by taking real park data as an example.The results show that compared with GA and ILS-RVND,the improved algorithm reduces quantification cost by about 24%and saves patrol time by about 36%.Apart from shortening the patrol time of robots,optimizing their patrol path and reducing their maintenance loss,the proposed algorithm also avoids the untimely patrol of robots and enhances the safety factor of equipment.

Anti-aliasing nonstationary signals detecion algorithm based on interpolation in the frequency domain using the short time Fourier transform

To eliminate the aliasing that appeared during the measurement of multi-components nonstationary signals, a novel kind of anti-aliasing algorithm based on the short time Fourier transform （STFT） is brought forward. First the physical essence of aliasing that occurs is analyzed; second the interpolation algorithm model is setup based on the Hamming window; then the fast implementation of the algorithm using the Newton iteration method is given. Using the numerical simulation the feasibility of algorithm is validated. Finally, the electrical circuit experiment shows the practicality of the algorithm in the electrical engineering.

Dual-Objective Mixed Integer Linear Program and Memetic Algorithm for an Industrial Group Scheduling Problem

Group scheduling problems have attracted much attention owing to their many practical applications.This work proposes a new bi-objective serial-batch group scheduling problem considering the constraints of sequence-dependent setup time,release time,and due time.It is originated from an important industrial process,i.e.,wire rod and bar rolling process in steel production systems.Two objective functions,i.e.,the number of late jobs and total setup time,are minimized.A mixed integer linear program is established to describe the problem.To obtain its Pareto solutions,we present a memetic algorithm that integrates a population-based nondominated sorting genetic algorithm II and two single-solution-based improvement methods,i.e.,an insertion-based local search and an iterated greedy algorithm.The computational results on extensive industrial data with the scale of a one-week schedule show that the proposed algorithm has great performance in solving the concerned problem and outperforms its peers.Its high accuracy and efficiency imply its great potential to be applied to solve industrial-size group scheduling problems.

SOME NEW ITERATIVE ALGORITHMS FOR MONOTONE MIXED VARIATIONAL INEQUALITIES

In this paper,some new iterative algorithms for monotone mixed variational inequalities and the convergence in real Hilbert spaces are studied.

ITERATIVE ALGORITHM FOR AXIALLY ACCELERATING STRINGS WITH INTEGRAL CONSTITUTIVE LAW

A numerical method is proposed to simulate the transverse vibrations of a viscoelastic moving string constituted by an integral law. In the numerical computation, the Galerkin method based on the Hermite functions is applied to discretize the state variables, and the Runge- Kutta method is applied to solve the resulting differential-integral equation system. A linear iterative process is designed to compute the integral terms at each time step, which makes the numerical method more efficient and accurate. As examples, nonlinear parametric vibrations of an axially moving viscoelastic string are analyzed.

Bi-extrapolated subgradient projection algorithm for solving multiple-sets split feasibility problem

This paper deals with a bi-extrapolated subgradient projection algorithm by intro- ducing two extrapolated factors in the iterative step to solve the multiple-sets split feasibility problem. The strategy is intend to improve the convergence. And its convergence is proved un- der some suitable conditions. Numerical results illustrate that the bi-extrapolated subgradient projection algorithm converges more quickly than the existing algorithms.

Iterative Learning Fault Diagnosis Algorithm for Non-uniform Sampling Hybrid System

For a class of non-uniform output sampling hybrid system with actuator faults and bounded disturbances,an iterative learning fault diagnosis algorithm is proposed.Firstly,in order to measure the impact of fault on system between every consecutive output sampling instants,the actual fault function is transformed to obtain an equivalent fault model by using the integral mean value theorem,then the non-uniform sampling hybrid system is converted to continuous systems with timevarying delay based on the output delay method.Afterwards,an observer-based fault diagnosis filter with virtual fault is designed to estimate the equivalent fault,and the iterative learning regulation algorithm is chosen to update the virtual fault repeatedly to make it approximate the actual equivalent fault after some iterative learning trials,so the algorithm can detect and estimate the system faults adaptively.Simulation results of an electro-mechanical control system model with different types of faults illustrate the feasibility and effectiveness of this algorithm.

Auxiliary principle and three-step iterative algorithms for generalized set-valued strongly nonlinear mixed variational-like inequalities

An auxiliary principle technique to study a class of generalized set-valued strongly nonlinear mixed variational-like inequalities is extended. The existence and uniqueness of the solution of the auxiliary problem for the generalized set-valued strongly nonlinear mixed variational-like inequalities are proved, a novel and innovative three-step iterative algorithm to compute approximate solution is constructed, and the existence of the solution of the generalized set-valued strongly nonlinear mixed variational-like inequality is shown using the auxiliary principle iterative sequences generated by the algorithm technique. The convergence of three-step is also proved.

AN ITERATIVE ALGORITHM FOR MAXIMAL MONOTONE MULTIVALUED OPERATOR EQUATIONS

A proximal iterative algorithm for the mulitivalue operator equation 0 ∈ T(x) is presented, where T is a maximal monotone operator. It is an improvement of the proximal point algorithm as well know. The convergence of the algorithm is discussed and all example is given.

A projection-domain iterative algorithm for metal artifact reduction by minimizing the total-variation norm and the negative-pixel energy

Metal objects in X-ray computed tomography can cause severe artifacts.The state-of-the-art metal artifact reduction methods are in the sinogram inpainting category and are iterative methods.This paper proposes a projectiondomain algorithm to reduce the metal artifacts.In this algorithm,the unknowns are the metal-affected projections,while the objective function is set up in the image domain.The data fidelity term is not utilized in the objective function.The objective function of the proposed algorithm consists of two terms:the total variation of the metalremoved image and the energy of the negative-valued pixels in the image.After the metal-affected projections are modified,the final image is reconstructed via the filtered backprojection algorithm.The feasibility of the proposed algorithm has been verified by real experimental data.

New regularization method and iteratively reweighted algorithm for sparse vector recovery

Motivated by the study of regularization for sparse problems,we propose a new regularization method for sparse vector recovery.We derive sufficient conditions on the well-posedness of the new regularization,and design an iterative algorithm,namely the iteratively reweighted algorithm(IR-algorithm),for efficiently computing the sparse solutions to the proposed regularization model.The convergence of the IR-algorithm and the setting of the regularization parameters are analyzed at length.Finally,we present numerical examples to illustrate the features of the new regularization and algorithm.

Randomized Kaczmarz algorithm for CT reconstruction

The order of the projection in the algebraic reconstruction technique(ART)method has great influence on the rate of the convergence.Although many scholars have studied the order of the projection,few theoretical proofs are given.Thomas Strohmer and Roman Vershynin introduced a randomized version of the Kaczmarz method for consistent,and over-determined linear systems and proved whose rate does not depend on the number of equations in the systems in 2009.In this paper,we apply this method to computed tomography(CT)image reconstruction and compared images generated by the sequential Kaczmarz method and the randomized Kaczmarz method.Experiments demonstrates the feasibility of the randomized Kaczmarz algorithm in CT image reconstruction and its exponential curve convergence.

AN ITERATIVE ALGORITHM FOR OPTIMAL DESIGN OF NON-FREQUENCY-SELECTIVE FIR DIGITAL FILTERS

This paper proposes a novel iterative algorithm for optimal design of non-frequency-selective Finite Impulse Response(FIR) digital filters based on the windowing method.Different from the traditional optimization concept of adjusting the window or the filter order in the windowing design of an FIR digital filter,the key idea of the algorithm is minimizing the approximation error by succes-sively modifying the design result through an iterative procedure under the condition of a fixed window length.In the iterative procedure,the known deviation of the designed frequency response in each iteration from the ideal frequency response is used as a reference for the next iteration.Because the approximation error can be specified variably,the algorithm is applicable for the design of FIR digital filters with different technical requirements in the frequency domain.A design example is employed to illustrate the efficiency of the algorithm.

Improved gradient iterative algorithms for solving Lyapunov matrix equations

In this paper, an improved gradient iterative （GI） algorithm for solving the Lyapunov matrix equations is studied. Convergence of the improved method for any initial value is proved with some conditions. Compared with the GI algorithm, the improved algorithm reduces computational cost and storage. Finally, the algorithm is tested with GI several numerical examples.