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非光滑动态多人优化与决策问题Nash解的必要条件研究
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作者 王春峰 李光泉 +2 位作者 郑丕谔 唐万生 许锡恩 《决策与决策支持系统》 1995年第3期63-70,共8页
本文利用非光滑分析、微分包含等理论详细研究了非光滑非合作动态多人优化和决策问题,给出其Nash解存在的必要条件,并予以严格的数学证明。
关键词 非光滑性 多人优化 Nash解
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INTEGRATED DESIGN OF AN ELECTRIC POWERED UNMANNED AIR VEHICLE USING CONCURRENT SUBSPACE DESIGN 被引量:1
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作者 余雄庆 MarcA.Stelmack StephenM.Batill 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2000年第2期140-149,共10页
The concurrent subspace design (CSD) framework has been used to conduct a preliminary design optimization of an electric powered, unmanned air vehicle (EPUAV) operating at a low Reynolds number. A multidisciplinary sy... The concurrent subspace design (CSD) framework has been used to conduct a preliminary design optimization of an electric powered, unmanned air vehicle (EPUAV) operating at a low Reynolds number. A multidisciplinary system analysis that includes aerodynamics, weights, propulsion, performance and stability and control has been developed for this class of vehicles. The CSD framework employs artificial neural network based response surfaces to provide approximations to the design space. The EPUAV system includes 25 continuous and 4 discrete design variables. The CSD framework was able to identify feasible designs with significant weight reductions relative to any previously considered (i.e. initial database) designs. This was accomplished with a limited number of system analyses. The results also demonstrate the nature of this design framework adaptive to changes in design requirements. 展开更多
关键词 aircraft design multidisciplinary design optimization unmanned air vehicle OPTIMIZATION
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Analytical modeling and multi-objective optimization(MOO) of slippage for wheeled mobile robot(WMR) in rough terrain 被引量:6
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作者 O.A.Ani 徐贺 +2 位作者 薛开 刘少刚 张振宇 《Journal of Central South University》 SCIE EI CAS 2012年第9期2458-2467,共10页
Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots... Good understanding of relationship between parameters of vehicle, terrain and interaction at the interface is required to develop effective navigation and motion control algorithms for autonomous wheeled mobile robots (AWMR) in rough terrain. A model and analysis of relationship among wheel slippage (S), rotation angle (0), sinkage (z) and wheel radius (r) are presented. It is found that wheel rotation angle, sinkage and radius have some influence on wheel slippage. A multi-objective optimization problem with slippage as utility function was formulated and solved in MATLAB. The results reveal the optimal values of wheel-terrain parameters required to achieve optimum slippage on dry sandy terrain. A method of slippage estimation for a five-wheeled mobile robot was presented through comparing the odometric measurements of the powered wheels with those of the fifth non-powered wheel. The experimental result shows that this method is feasible and can be used for online slippage estimation in a sandy terrain. 展开更多
关键词 autonomous wheeled mobile robot terramechanics TRACTION motion control soil shear failure drawbar pull
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Stroke optimization of a novel multi-station rotary polishing robot based on workspace analysis 被引量:1
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作者 李东京 Wei Wang +2 位作者 Wang Qilong Hao Daxian Jin Hui 《High Technology Letters》 EI CAS 2018年第3期313-321,共9页
In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is simi... In order to meet the polishing requirement of faucets and other products,a novel multi-station rotary polishing robot is designed,which is a PPPR + RR type of degree of freedom( DOF) distribution structure,and is similar to dual-arm robot. Forward and inverse kinematic analysis is carried out by robot modeling. In order to make this robot structure more compact,first of all,X,Y and Z three moving degrees of freedom( DOF) limit stroke polishing need is calculated by using an artificial fish swarm algorithm,which analyzes dexterous workspace of this robot. Then,on the basis of the above analysis,the three DOF stroke is optimized. Simulation and polishing experimental results verify that this polishing robot with optimized stroke parameters can meet the polishing needs of faucets and other bathroom pieces. 展开更多
关键词 multi-station rotary table polishing robot dexterous workspace analysis stroke optimization dual-arm robot artificial fish swarm algorithm (AFSA)
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