The application of multiple UAVs in complicated tasks has been widely explored in recent years.Due to the advantages of flexibility,cheapness and consistence,the performance of heterogeneous multi-UAVs with proper coo...The application of multiple UAVs in complicated tasks has been widely explored in recent years.Due to the advantages of flexibility,cheapness and consistence,the performance of heterogeneous multi-UAVs with proper cooperative task allocation is superior to over the single UAV.Accordingly,several constraints should be satisfied to realize the efficient cooperation,such as special time-window,variant equipment,specified execution sequence.Hence,a proper task allocation in UAVs is the crucial point for the final success.The task allocation problem of the heterogeneous UAVs can be formulated as a multi-objective optimization problem coupled with the UAV dynamics.To this end,a multi-layer encoding strategy and a constraint scheduling method are designed to handle the critical logical and physical constraints.In addition,four optimization objectives:completion time,target reward,UAV damage,and total range,are introduced to evaluate various allocation plans.Subsequently,to efficiently solve the multi-objective optimization problem,an improved multi-objective quantum-behaved particle swarm optimization(IMOQPSO)algorithm is proposed.During this algorithm,a modified solution evaluation method is designed to guide algorithmic evolution;both the convergence and distribution of particles are considered comprehensively;and boundary solutions which may produce some special allocation plans are preserved.Moreover,adaptive parameter control and mixed update mechanism are also introduced in this algorithm.Finally,both the proposed model and algorithm are verified by simulation experiments.展开更多
We consider differentiated timecritical task scheduling in a N×N input queued optical packet s w itch to ens ure 100% throughput and meet different delay requirements among various modules of data center. Existin...We consider differentiated timecritical task scheduling in a N×N input queued optical packet s w itch to ens ure 100% throughput and meet different delay requirements among various modules of data center. Existing schemes either consider slot-by-slot scheduling with queue depth serving as the delay metric or assume that each input-output connection has the same delay bound in the batch scheduling mode. The former scheme neglects the effect of reconfiguration overhead, which may result in crippled system performance, while the latter cannot satisfy users' differentiated Quality of Service(Qo S) requirements. To make up these deficiencies, we propose a new batch scheduling scheme to meet the various portto-port delay requirements in a best-effort manner. Moreover, a speedup is considered to compensate for both the reconfiguration overhead and the unavoidable slots wastage in the switch fabric. With traffic matrix and delay constraint matrix given, this paper proposes two heuristic algorithms Stringent Delay First(SDF) and m-order SDF(m-SDF) to realize the 100% packet switching, while maximizing the delay constraints satisfaction ratio. The performance of our scheme is verified by extensive numerical simulations.展开更多
An exact approach for free transverse vibrations of a Timoshenko beam with ends elastically restrained against rotation and translation and arbitrarily located internal restraints is presented. The calculus of variati...An exact approach for free transverse vibrations of a Timoshenko beam with ends elastically restrained against rotation and translation and arbitrarily located internal restraints is presented. The calculus of variations is used to obtain the equations of motion, the boundary conditions and the transitions conditions which correspond to the described mechanical system. The derived differential equations are solved individually for each segment of the beam with the corresponding boundary and transitions conditions. The derived mathematical formulation generates as particular cases, and several mathematical models are used to simulate the presence of cracks. Some cases available in the literature and the presence of some errors are discussed. New results are presented for different end conditions and restraint conditions in the intermediate elastic constraints with their corresponding modal shapes.展开更多
A robust nonlinear control method is presented for spacecraft precise formation flying.With the constraint forces and consid-ering nonlinearity and perturbations,the problem of the formation keeping is changed to the ...A robust nonlinear control method is presented for spacecraft precise formation flying.With the constraint forces and consid-ering nonlinearity and perturbations,the problem of the formation keeping is changed to the Lagrange systems with the holonomic constraints and the differential algebraic equations (DAE).The nonlinear control laws are developed by solving the DAE.Because the traditional numerical solving methods of DAE are very sensitive to the various errors and the resulting con-trol laws are not robust in engineering application,the robust control law designed method is further developed by designing the correct coefficients to correct the errors of the formation array constraints.A numeral study simulated the robustness of this method for the various errors in the formation flying mission,including the initial errors of spacecraft formation,the reference satellite orbit determination errors,the relative perturbation forces model errors,and so on.展开更多
基金Project(61801495)supported by the National Natural Science Foundation of China
文摘The application of multiple UAVs in complicated tasks has been widely explored in recent years.Due to the advantages of flexibility,cheapness and consistence,the performance of heterogeneous multi-UAVs with proper cooperative task allocation is superior to over the single UAV.Accordingly,several constraints should be satisfied to realize the efficient cooperation,such as special time-window,variant equipment,specified execution sequence.Hence,a proper task allocation in UAVs is the crucial point for the final success.The task allocation problem of the heterogeneous UAVs can be formulated as a multi-objective optimization problem coupled with the UAV dynamics.To this end,a multi-layer encoding strategy and a constraint scheduling method are designed to handle the critical logical and physical constraints.In addition,four optimization objectives:completion time,target reward,UAV damage,and total range,are introduced to evaluate various allocation plans.Subsequently,to efficiently solve the multi-objective optimization problem,an improved multi-objective quantum-behaved particle swarm optimization(IMOQPSO)algorithm is proposed.During this algorithm,a modified solution evaluation method is designed to guide algorithmic evolution;both the convergence and distribution of particles are considered comprehensively;and boundary solutions which may produce some special allocation plans are preserved.Moreover,adaptive parameter control and mixed update mechanism are also introduced in this algorithm.Finally,both the proposed model and algorithm are verified by simulation experiments.
基金supported by the Major State Basic Research Program of China (973 project No. 2013CB329301 and 2010CB327806)the Natural Science Fund of China (NSFC project No. 61372085, 61032003, 61271165 and 61202379)+1 种基金the Research Fund for the Doctoral Program of Higher Education of China (RFDP project No. 20120185110025, 20120185110030 and 20120032120041)supported by Tianjin Key Laboratory of Cognitive Computing and Application, School of Computer Science and Technology, Tianjin University, Tianjin, P. R. China
文摘We consider differentiated timecritical task scheduling in a N×N input queued optical packet s w itch to ens ure 100% throughput and meet different delay requirements among various modules of data center. Existing schemes either consider slot-by-slot scheduling with queue depth serving as the delay metric or assume that each input-output connection has the same delay bound in the batch scheduling mode. The former scheme neglects the effect of reconfiguration overhead, which may result in crippled system performance, while the latter cannot satisfy users' differentiated Quality of Service(Qo S) requirements. To make up these deficiencies, we propose a new batch scheduling scheme to meet the various portto-port delay requirements in a best-effort manner. Moreover, a speedup is considered to compensate for both the reconfiguration overhead and the unavoidable slots wastage in the switch fabric. With traffic matrix and delay constraint matrix given, this paper proposes two heuristic algorithms Stringent Delay First(SDF) and m-order SDF(m-SDF) to realize the 100% packet switching, while maximizing the delay constraints satisfaction ratio. The performance of our scheme is verified by extensive numerical simulations.
文摘An exact approach for free transverse vibrations of a Timoshenko beam with ends elastically restrained against rotation and translation and arbitrarily located internal restraints is presented. The calculus of variations is used to obtain the equations of motion, the boundary conditions and the transitions conditions which correspond to the described mechanical system. The derived differential equations are solved individually for each segment of the beam with the corresponding boundary and transitions conditions. The derived mathematical formulation generates as particular cases, and several mathematical models are used to simulate the presence of cracks. Some cases available in the literature and the presence of some errors are discussed. New results are presented for different end conditions and restraint conditions in the intermediate elastic constraints with their corresponding modal shapes.
基金supported by the China Postdoctoral Foundation (Grant Nos. 20080440217, 200902666)
文摘A robust nonlinear control method is presented for spacecraft precise formation flying.With the constraint forces and consid-ering nonlinearity and perturbations,the problem of the formation keeping is changed to the Lagrange systems with the holonomic constraints and the differential algebraic equations (DAE).The nonlinear control laws are developed by solving the DAE.Because the traditional numerical solving methods of DAE are very sensitive to the various errors and the resulting con-trol laws are not robust in engineering application,the robust control law designed method is further developed by designing the correct coefficients to correct the errors of the formation array constraints.A numeral study simulated the robustness of this method for the various errors in the formation flying mission,including the initial errors of spacecraft formation,the reference satellite orbit determination errors,the relative perturbation forces model errors,and so on.
