基于多策略融合改进粒子群算法的路径规划研究

针对传统粒子群算法(particle swarm optimization,PSO)在路径规划中易陷入局部最优使得规划路径较长以及搜索后期由于种群多样性降低容易陷入停滞等问题,提出一种多策略融合粒子群算法(multi-strategy fusion particle swarm optimization,MFPSO)并将其应用于路径规划中。首先,利用中垂线算法(midperpendicular algorithm)的粒子位置更新方法提升粒子的收敛速度;其次,在最优粒子附近采用生成爆炸粒子的策略使算法跳出局部最优;然后,引入线性动态惯性权重调整方法,增加算法的搜索能力;最后,在路径规划应用中采用全局最优解局部搜索策略,在算法后期得出的最优路径再进行局部搜索得出更优的路径,增加机器人路径规划能力。仿真结果表明,多策略融合粒子群算法在路径规划中具有更高的路径搜索能力。

多策略融合的改进粒子群优化算法

为解决传统粒子群算法收敛精度低、收敛速度慢和易陷入局部最优的问题,提出了一种多策略融合的改进粒子群算法。首先,设计了一种基于中垂线算法的游离粒子位置更新方法,加快了游离粒子的收敛速度;其次,设计了一种在最优粒子附近生成爆炸粒子的策略,以增强算法的寻优精度和寻优速度,为适应前两个策略,还设计了一种仅依靠全局最优粒子位置的粒子速度更新策略;最后,将基于概率分层的简化粒子群优化算法的惯性权重和粒子位置更新方法用于本算法。与其他五种改进粒子群算法进行了对比实验,结果表明提出的改进算法无论是处理低维问题还是高维问题表现均具有较大优势,性能更优越。

改进麻雀搜索算法的轮式机器人路径规划

针对传统麻雀搜索算法(sparrow search algorithm,SSA)在轮式机器人路径规划应用中易陷入局部最优使得规划路径较长以及算法后期容易陷入早熟等问题,提出一种改进麻雀搜索算法(improved sparrow search algorithm,ISSA)应用在轮式机器人路径规划中。首先,在算法初期初始化种群时利用Logistic混沌提高初始种群的多样性;其次,将线性动态惯性权重调整方法引入到发现者位置更新中,使得算法的全局搜索能力以及收敛速度得以提升;然后,在跟随者位置更新方法中结合中垂线算法(midperpendicular algorithm,MA)使跟随者快速精准地向种群适应度最高的个体靠拢;最后,在算法后期结合最优爆炸粒子策略与反向学习策略在最优解附近产生扰动,防止算法后期陷入局部最优解。并且在机器人路径规划应用中将全局最优解再次进行局部搜索来提高机器人的路径规划能力。仿真结果表明,ISSA应用在路径规划中,其路径长度、寻优速度以及迭代次数方面均有显著提高。

台式飞行训练模拟器的视景仿真技术

为解决台式飞行训练模拟器的视景仿真问题,以真实地形仿真为基础,通过构造飞行仿真模型,利用二维图片视景展示、三屏同步和粒子爆炸效果等多重技术进行视景仿真。实践证明,该视景仿真技术能较好地再现飞行环境,与传统视景仿真方法相比,运行效率高、实时同步性好、模拟程度高,可满足飞行模拟训练的需要。

Effect of particle size of coal dust on explosion pressure

The effect of the particle size of coal dust on explosion pressure and the rising rate of explosion pressure is studied. Three coal dusts from Lingan Coal Mine in Canada and Datong Coal Mine in China are selected to test. The influence of particle size on the maximum explosion pressure P max and maximum pressure rising rate (d p /d t ) max of each coal dust was tested experimentally. The results indicate that with the decrease of particle size of coal dusts, explosion pressure increases on condition of the same concentration. If the concentration of coal dust is different, the maximum explosion pressure appears at the concentration of 500 g/m^3. The smaller the particle size of coal dusts, the larger the rising rate of explosion pressure of coal dust. When the concentration of coal dust is 500 g/m^3, the rising rate of explosion pressure of each coal dust is the maximum.

Numerical Simulation of Shaped Charge Jet Using Multi-Phase SPH Method

Since the jets and detonation gaseous products are separated by sharp interfaces, the traditional smoothed particle hydrodynamics (SPH) method is difficult to avoid the computational instability at interfaces. The multi-phase SPH (MSPH) method was applied to improving the stabil-ity, which smoothes the particle density and makes pressure continuous at interfaces. Numericalexamples of jet forming process were used to test capability of the MSPH method. The results show that the method remains algorithm stability for large density gradient between the jets and gaseous products and has potential application to both the explosion and the jet problems. The effect of initiation ways of the shaped charge was discussed as well.

An Experimental Study on the Drag Property of High-Temperature Particles Falling into Cold Liquid Pool

This experiment is to study the special resistant induced by the high-speed evaporation surrounding themoving high-temperature particles. An observable equipment was designed, in which the first 11 experiments wereperformed by pouring one or several Zirconia spheres with various high-temperature and a diameter of 3～ 10 mminto a water pool. The particles falling-down speeds were recorded by high-speed photographic instrumentation,and pressures and water temperatures were measured. A comparison between the experiments with cold and hotspheres respectively, employing three different sphere types each, was presented. The experimental data, com-pared with the theory of the evaporation drag model, are nearly identical.

Mechanical alloying of platinum with 5% ZrO_2 nanoparticles for glass making tools

Synthesis and characterization of mechanically alloyed Pt-5%ZrO2(volume fraction) for structural components in the glass industry were described. Zirconia(ZrO2) nanoparticles(<100 nm) were produced by the electrical explosion of zirconium(Zr) wires, and blended with platinum(Pt) powders(<44 ?m) for 2-72 h in ambient atmosphere. The Pt particle size followed the typical decreasing trend of the normal ball milling process up to 48 h, but particle agglomeration was observed at 72 h. The grain size evolution was similar to that of the particle size, dropping down to around 50 nm at 48 h. The root mean square strain of the Pt crystallites showed the opposite behavior, maximizing at 48 h with a subsequent relaxation process. For the 48 h ball milled powders, spark plasma sintering was carried out to form a bulk disk. The measured mass loss of the sintered bulk sample shows a decent thermal stability despite its relatively low density.

Numerical study on explosion-induced fractures of reinforced concrete structure by beam-particle model

In the field of disaster prevention mitigation and protection engineering,it is important to identify the mechanical behaviors of reinforced concrete(RC)under explosive load by simulation.A three dimensional beam-particle model(BPM),which is suitable to simulate the fracture process of RC under explosive load,has been developed in the frame of discrete element method (DEM).In this model,only the elastic deformations of beams between concrete particles were considered.The matrix displacement method(MDM)was employed to describe the relationship between the deformation and forces of the beam.A fracture criterion expressed by stress was suggested to identify the state of the beam.A BPM for steel bar,which can simulate the deformation of steel bar under high loading rate,was also developed based on the Cowper-Symonds theory.A program has been coded using C++language.Experiments of RC slab under explosive load were carried out using the program.Good agreement was achieved between the experimental and simulated results.It is indicated that the proposed theoretical model can well simulate the fracture characteristics of RC slab under explosive load such as blasting pit formation,cracks extension, spallation formation,etc.