Global optimal path planning for mobile robot based onimproved Dijkstra algorithm and ant system algorithm

A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps: the first step is adopting the MAKLINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.

Design of PID controller with incomplete derivation based on ant system algorithm

A new and intelligent design method for PID controller with incomplete derivation is proposed based on the ant system algorithm ( ASA) . For a given control system with this kind of PID controller, a group of optimal PID controller parameters K p * , T i * , and T d * can be obtained by taking the overshoot, settling time, and steady-state error of the system's unit step response as the performance indexes and by use of our improved ant system algorithm. K p * , T i * , and T d * can be used in real-time control. This kind of controller is called the ASA-PID controller with incomplete derivation. To verify the performance of the ASA-PID controller, three different typical transfer functions were tested, and three existing typical tuning methods of PID controller parameters, including the Ziegler-Nichols method (ZN),the genetic algorithm (GA),and the simulated annealing (SA), were adopted for comparison. The simulation results showed that the ASA-PID controller can be used to control different objects and has better performance compared with the ZN-PID and GA-PID controllers, and comparable performance compared with the SA-PID controller.

Satellite Constellation Design with Adaptively Continuous Ant System Algorithm

The ant system algorithm （ASA） has proved to be a novel meta-heuristic algorithm to solve many multivariable problems. In this paper, the earth coverage of satellite constellation is analyzed and a n ＋ 1^ -fold coverage rate is put forward to evaluate the coverage performance of a satellite constellation. An optimization model of constellation parameters is established on the basis of the coverage performance. As a newly developed method, ASA can be applied to optimize the constellation parameters. In order to improve the ASA, a rule for adaptive number of ants is proposed, by which the search range is obviously enlarged and the convergence speed increased. Simulation results have shown that the ASA is more quick and efficient than other methodV211.71s.

Intelligent PID controller based on ant system algorithm and fuzzy inference and its application to bionic artificial leg

A designing method of intelligent proportional-integral-derivative(PID) controllers was proposed based on the ant system algorithm and fuzzy inference. This kind of controller is called Fuzzy-ant system PID controller. It consists of an off-line part and an on-line part. In the off-line part, for a given control system with a PID controller,by taking the overshoot, setting time and steady-state error of the system unit step response as the performance indexes and by using the ant system algorithm, a group of optimal PID parameters K*p , Ti* and T*d can be obtained, which are used as the initial values for the on-line tuning of PID parameters. In the on-line part, based on Kp* , Ti*and Td* and according to the current system error e and its time derivative, a specific program is written, which is used to optimize and adjust the PID parameters on-line through a fuzzy inference mechanism to ensure that the system response has optimal transient and steady-state performance. This kind of intelligent PID controller can be used to control the motor of the intelligent bionic artificial leg designed by the authors. The result of computer simulation experiment shows that the controller has less overshoot and shorter setting time.

Ant System Algorithm Research and Its Applications

In this paper, systematic review on Ant System (AS) algorithm research and application is made, and the authors works of introducing As algorithm into continuous space application are summarized. Then the applicability characters of AS in continuous space optimization problems are also discussed.

A PID Tuning Approach for Inertial Systems Performance Optimization

In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented two approaches for synthesis the proportional-integral-derivative controller to the models of objects with inertia, that offer the procedure of system performance optimization based on maximum stability degree criterion. The proposed algorithms of system performance optimization were elaborated for model of objects with inertia second and third order and offer simple analytical expressions for tuning the PID controller. Validation and verification are conducted through computer simulations using MATLAB, demonstrating successful performance optimization and showcasing the effectiveness PID controllers’ tuning. The proposed approaches contribute insights to the field of control, offering a pathway for optimizing the performance of second and third-order inertial systems through robust controller synthesis.

Optimization and Sizing for Propulsion System of Liquid Rocket Using Genetic Algorithm

Flight vehicle conceptual design appears to be a promising area for application of the Genetic Algorithm （GA） as an approach to help to automate part of the design process. This computational research effort strives to develop a propulsion system design strategy for liquid rocket to optimize take-off mass, satisfying the mission range under the constraint of axial overload. The method by which this process is accomplished by using GA as optimizer is outlined in this paper. Convergence of GA is improved by introducing initial population based on Design of Experiments Technique.

Application of a neural network system combined with genetic algorithm to rank coalbed methane reservoirs in the order of exploitation priority

A new method based on the combination of a neural network and a genetic algorithm was proposed to rank the order of exploitation priority of coalbed methane reservoirs. The neural network was used to acquire the weights of reservoir parameters through sample training and genetic algorithm was used to optimize the initial connection weights of nerve cells in case the neural network fell into a local minimum. Additionally, subordinate functions of each parameter were established to normalize the actual values of parameters of coalbed methane reservoirs in the range between zero and unity. Eventually, evaluation values of all coalbed methane reservoirs could be obtained by using the comprehensive evaluation method, which is the basis to rank the coalbed methane reservoirs in the order of exploitation priority. The greater the evaluation value, the higher the exploitation priority. The ranking method was verified in this paper by ten exploited coalbed methane reservoirs in China. The evaluation results are in agreement with the actual exploitation cases. The method can ensure the truthfulness and credibility of the weights of parameters and avoid the subjectivity caused by experts. Furthermore, the probability of falling into local minima is reduced, because genetic the algorithm is used to optimize the neural network system.

Reliability Allocation and Optimization of Engine System by Using Genetic Algorithm and Monte Carlo Method

A new reliability allocation model has been built for engine system, which is a repairable system, and consists of a large number of mechanical components. The cost and reliability are taken as objective function and constraint condition respectively. The parameters of components lifetime distribution are given as decision variables, and the component lifetimes are assumed to follow that Weibull distribution. The allocation is separated into two steps to reduce calculated amount of one allocation. Genetic algorithm and Monte Carlo method are applied to solve distribution parameters and system cost separately.

Application of Genetic Algorithms in Identification ofLinear Time-Varying System

By applying genetic algorithms (GA) to on-line identification of linear time-varying systems; a number of modifications are made to the Simple Genetic Algorithm to improve the performance of the algorithm in identification applications. The simulation results indicate that the method is not only capable of following the changing parameters of the system, but also has improved the identification accuracy compared with that using the least square method.

TWO ALGORITHMS FOR SYMMETRIC LINEAR SYSTEMS WITH MULTIPLE RIGHT-HAND SIDES

In this paper, we investigate the block Lanczos algorithm for solving large sparse symmetric linear systems with multiple right-hand sides, and show how to incorporate deflation to drop converged linear systems using a natural convergence criterion, and present an adaptive block Lanczos algorithm. We propose also a block version of Paige and Saunders’ MINRES method for iterative solution of symmetric linear systems, and describe important implementation details. We establish a relationship between the block Lanczos algorithm and block MINRES algorithm, and compare the numerical performance of the Lanczos algorithm and MINRES method for symmetric linear systems applied to a sequence of right hand sides with that of the block Lanczos algorithm and block MINRES algorithm for multiple linear systems simultaneously.[WT5,5”HZ]

Design &Implementation of an Optimization Loading System in Electric by Using Genetic Algorithm

The purpose of this paper is to propose a new system for the distribution of electric power by using the concept of Active Demand procedures to obtain a low cost and ensure the continuity of energy. This paper consists of two parts: the first includes the method of optimal distribution of electricity in the presence of Active Demand based on the price of energy for the specific time in the system;this feature will help the consumer to determine the process of consumption through the advertised price;all this will appear through the energy box. The second part involves the introduction of the genetic algorithm to obtain the best solutions for costs and also the best choice for the distribution of electrical power, which makes this method optimize by introducing the genetic algorithm with electrical energy. The main drivers of this work are to provide continuous electrical energy at the lowest cost and also to simulate active demand, in addition to the rapid processing of energy failures by the aggregator and raising awareness of the process of energy conservation for the consumer.

Parameter estimation for chaotic systems using the cuckoo search algorithm with an orthogonal learning method

We study the parameter estimation of a nonlinear chaotic system,which can be essentially formulated as a multidimensional optimization problem.In this paper,an orthogonal learning cuckoo search algorithm is used to estimate the parameters of chaotic systems.This algorithm can combine the stochastic exploration of the cuckoo search and the exploitation capability of the orthogonal learning strategy.Experiments are conducted on the Lorenz system and the Chen system.The proposed algorithm is used to estimate the parameters for these two systems.Simulation results and comparisons demonstrate that the proposed algorithm is better or at least comparable to the particle swarm optimization and the genetic algorithm when considering the quality of the solutions obtained.

A Beam Search-based Algorithm for Flexible Manufacturing System Scheduling

A new algorithm is proposed for the flexible manufacturing system (FMS) scheduling problem in this paper. The proposed algorithm is a heuristic based on filtered beam search. It considers the machines and automated guided vehicle (AGV) as the primary resources. It utilizes system constraints and related manufacturing and processing information to generate machines and AGV schedules. The generated schedules can be an entire scheduling horizon as well as various lengths of scheduling periods. The proposed algorithm is also compared with other well-known dispatching rules-based FMS scheduling. The results indicate that the beam search algorithm is a simple, valid and promising algorithm that deserves further research in FMS scheduling field.

Collaborative Filtering Algorithms Based on Kendall Correlation in Recommender Systems

In this work, Kendall correlation based collaborative filtering algorithms for the recommender systems are proposed. The Kendall correlation method is used to measure the correlation amongst users by means of considering the relative order of the users＇ ratings. Kendall based algorithm is based upon a more general model and thus could be more widely applied in e-commerce. Another discovery of this work is that the consideration of only positive correlated neighbors in prediction, in both Pearson and Kendall algorithms, achieves higher accuracy than the consideration of all neighbors, with only a small loss of coverage.

Tuning PID Parameters Based on a Combination of the Expert System and the Improved Genetic Algorithms

a new strategy combining an expert system and improved genetic algorithms is presented for tuning proportional-integral-derivative （PID） parameters for petrochemical processes. This retains the advantages of genetic algorithms, namely rapid convergence and attainment of the global optimum. Utilization of an orthogonal experiment method solves the determination of the genetic factors. Combination with an expert system can make best use of the actual experience of the plant operators. Simulation results of typical process systems examples show a good control performance and robustness.

Dynamic Optimization Method on Electromechanical Coupling System by Exponential Inertia Weight Particle Swarm Algorithm

Dynamic optimization of electromechanical coupling system is a significant engineering problem in the field of mechatronics. The performance improvement of electromechanical equipment depends on the system design parameters. Aiming at the spindle unit of refitted machine tool for solid rocket, the vibration acceleration of tool is taken as objective function, and the electromechanical system design parameters are appointed as design variables. Dynamic optimization model is set up by adopting Lagrange-Maxwell equations, Park transform and electromechanical system energy equations. In the procedure of seeking high efficient optimization method, exponential function is adopted to be the weight function of particle swarm optimization algorithm. Exponential inertia weight particle swarm algorithm（EPSA）, is formed and applied to solve the dynamic optimization problem of electromechanical system. The probability density function of EPSA is presented and used to perform convergence analysis. After calculation, the optimized design parameters of the spindle unit are obtained in limited time period. The vibration acceleration of the tool has been decreased greatly by the optimized design parameters. The research job in the paper reveals that the problem of dynamic optimization of electromechanical system can be solved by the method of combining system dynamic analysis with reformed swarm particle optimizati on. Such kind of method can be applied in the design of robots, NC machine, and other electromechanical equipments.

NUMERICAL METHOD BASED ON HAMILTON SYSTEM AND SYMPLECTIC ALGORITHM TO DIFFERENTIAL GAMES

The resolution of differential games often concerns the difficult problem of two points border value （TPBV）, then ascribe linear quadratic differential game to Hamilton system. To Hamilton system, the algorithm of symplectic geometry has the merits of being able to copy the dynamic structure of Hamilton system and keep the measure of phase plane. From the viewpoint of Hamilton system, the symplectic characters of linear quadratic differential game were probed; as a try, Symplectic-Runge-Kutta algorithm was presented for the resolution of infinite horizon linear quadratic differential game. An example of numerical calculation was given, and the result can illuminate the feasibility of this method. At the same time, it embodies the fine conservation characteristics of symplectic algorithm to system energy.

Distributed consensus algorithm for networked Euler-Lagrange systems with self-delays and uncertainties

A distributed coordinated consensus problem for multiple networked Euler-Lagrange systems is studied. The communication between agents is subject to time delays, unknown parameters and nonlinear inputs, but only with their states available for measurement. When the communication topology of the system is connected, an adaptive control algorithm with selfdelays and uncertainties is suggested to guarantee global full-state synchro-nization that the difference between the agent＇s positions and ve-locities asymptotically converges to zero. Moreover, the distributed sliding-mode law is given for chaotic systems with nonlinear inputs to compensate for the effects of nonlinearity. Finally, simulation results show the effectiveness of the proposed control algorithm.

A Class of Parallel Algorithms of Real-TimeNumerical Simulation for Stiff Dynamic System

In this paper a class of real-time parallel modified Rosenbrock methods of numerical simulation is constructed for stiff dynamic systems on a multiprocessor system, and convergence and numerical stability of these methods are discussed. A-stable real-time parallel formula of two-stage third-order and A(α)-stable real-time parallel formula with o ≈ 89.96° of three-stage fourth-order are particularly given. The numerical simulation experiments in parallel environment show that the class of algorithms is efficient and applicable, with greater speedup.