仓库机器人规划生成系统RPGSS

RPGSS(Robot Plan—Generating System for Storehouse)系统是一个有效的机器人规划生成系统。该系统建立了演绎法和归约法相结合的机制,采用排序技术和回归技术来解决目标相互影响问题。系统用 CommnoLisp 语言编写,适用于仓库工作的机器人搬运货物的环境。

基于电子海图的无人艇集群区域覆盖路径规划

[目的]针对无人艇(ASV)集群区域覆盖问题,设计一种基于电子海图信息系统(ECDIS)的多无人艇区域覆盖路径规划方法。[方法]首先,通过提取ECDIS中的海陆和水深信息,建立基于栅格化方法的无人艇集群覆盖区域环境模型。其次,提出一种基于轮盘选择法的区域划分方法,解决基于初始位置的区域划分方法区域划分不规则的问题,实现在栅格地图中对无人艇集群覆盖子区域的合理划分。最后,构建一种基于模板法的区域覆盖路径规划方法,解决生成树覆盖方法路径转弯数量较多的问题。[结果]搭建基于ECDIS的无人艇集群人机交互仿真平台,验证所提基于轮盘法和模板法的区域覆盖路径规划方法对优化规划路径转弯数量的有效性。[结论]采用所提基ECDIS的无人艇集群区域覆盖路径规划方法,实现多无人艇对海上目标任务区域的覆盖路径规划。

一种基于规划自动生成的GIS专题分析模型设计

将人工智能(Artificial Intelligence,AI)领域的理论和技术与地理信息系统(Geographic Information System,GIS)相结合来设计地理信息系统专题分析模型,通过增强其在问题求解、自动推理、决策、知识表示与使用等方面的能力,使得GIS的专题分析模型能自动地、智能化地解决复杂的现实问题,是GIS的重要发展方向之一。论文在总结和分析这一领域国内外已发表的研究成果的基础上,提出一种基于规划自动生成的GIS专题分析模型的设计方案,并详细阐释了该分析模型中知识表示、自动推理等的设计细节。

城乡规划方案程序化生成——城乡规划从业人员的失业

文章通过对城乡规划方案程序化生成的背景、原理及方法、争议、前景等相关情况的概略式探讨，为城乡规划提供了一种前瞻性的发展方向。

多指灵巧手关节空间的轨迹规划研究

为确保灵巧手能在规定的时间内完成既定的任务,并要求抓取的动作满足连续、平滑等要求。可以利用抛物线连接的线性函数插值法对其进行轨迹规划。并讨论如何根据给定的路径点规划出的运动轨迹参数,实时地产生运动轨迹。

考虑分布式能源综合利用的交直流混合配电网规划研究

文章建立了包括分布式光伏、负荷和换流站在内的规划模型。以交直流混合配电网扩展投资运行总费用最小为目标,建立满足节点电压、线路有功功率、分布式电源容量约束的数学模型;考虑负荷增长的需求,提出了改进GA的最小生成树规划方法,避免了不可行解,提高了优化效率;通过对分布式电源和交直流混合配电网进行选址定容和网架的综合优化,建立了考虑分布式能源综合利用的交直流混合配电网扩容优化方案。最后,采用对比分析,验证了文章所提规划方法的有效性。

适用于柔性工艺规划的分层规划法

提出了基于分层约束的柔性工艺规划方法,并用实例说明了规划的设计方法:通过引入AOS树作为特征加工顺序的组织方法,为后续的在线设计提供了多种可选方案路线,为非线性工艺设计提供了必需的技术保障。

作战计划生成中的理论与技术问题:一种综合视角

作战系统的复杂性,决定了作战计划生成注定不是一个简单的过程,其中涉及诸多理论与技术问题.兼顾作战计划生成问题的广度和深度,以一种综合的视角考察了这些理论与技术.对作战计划生成过程涉及的相关概念结构和基本知识框架进行了综合性探讨,确立了作战计划生成中的理论与技术问题的考察框架.重点考察了作战系统规律探寻的理论与方法问题、作战计划生成的方法与技术问题和作战计划评估的理论与技术问题,目的是在较深的层次上揭示这些理论与技术问题的内在关系,并为作战计划生成研究提供一个较广阔的视野.

A NEW ALGORITHM FOR ALL EFFICIENT SPANNING TREES

In Corley′s algorithm for all efficient spanning trees, final solutions include many spanning trees, which are not all efficient. In this paper, a new algorithm is presented, which corrects and modifies Corley′s algorithm. A necessary condition is developed for the subtree of an efficient spanning tree. According to the condition the new algorithm is established and its efficiency is proved.

Combination of Ecoprofile and Least-cost Model for Eco-network Planning

The protecting requirements and functional connectivity of species in isolated habitat patches are crucial factors of eco-network planning.This study aimed to improve the method of eco-network planning for species conservation.Ecoprofiling was used to group the species by similar behavior types,namely,choice of ecosystem,area requirement,and short distance dispersal abilities.A least-cost model was used to simulate the optimal corridor location to maintain functional connectivity.A combination of ecoprofile and least-cost model was hired to develop an eco-network that promoted species conservation.A case study was also conducted in Beijing,China.In addition to the required ecosystem,habitat area is an important parameter for habitat extraction.Habitat area can remove noise habitat patches because of lacking area.Short-distance dispersal can be used to identify corridor requirements and avoid unnecessary building requirements.Species with various dispersal abilities exhibit significant differences in terms of corridor length and location requirement.Habitat isolation is the main threat for weakly mobile species,and habitat loss is the major risk of mobile species protection.Different species groups also exhibit distinct landscape pattern demands for an eco-network,and the eco-network planning based on specific species can not protect other species.We proposed that a combination of ecoprofile and least-cost model improved the efficiency of species conservation by eco-network planning.

Maximum Data Collection Rate in Rechargeable Wireless Sensor Networks with Multiple Sinks

In rechargeable wireless sensor networks, a sensor cannot be always benefi cial to conserve energy when a network can harvest excessive energy from the environment due to its energy replenished continually and limited energy storage capacity. Therefore, surplus energy of a node can be utilized for strengthening packet delivery efficiency and improving data collection rate. In this work, we propose an algorithm to compute an upper data generation rate that maximizes it as an optimization problem for a network with multiple sinks, which is formulated as a linear programming problem. Subsequently, a dual problem by introducing Lagrange multipliers is constructed, and subgradient algorithms are used to solve it in a distributed manner. The resulting algorithms are guaranteed to converge to an optimal data generation rate, which are illustrated by an example in which an optimum data generation rate is computed for a network of randomly distributed nodes. Through extensive simulation and experiments, we demonstrate our algorithm is efficient to maximize data collection rate in rechargeable wireless sensor networks.

A path planning algorithm based on Bezier curves for underwater vehicles

An on-line path planning algorithm based on Bezier curves is presented for underwater vehicles. Aiming at the special requirements of underwater vehicles and 3D enviromnent, the algorithm consists of two steps ： the generation of spatial path and the processing of some constraints. A path for underwater vehicles is planned, which satisfies the velocity constraint and the centripetal acceleration constraint of underwater vehicles. The proposed path planning method can be used for the vehicle＇ s locomotion and navigation control.

含储能及新能源发电的居民侧需求响应

传统居民侧需求响应策略很少考虑储能和新能源发电环境,难以适应新的发展趋势和遇到的新挑战,如新能源发电的随机性对需求响应策略带来风险成本,电池储能系统的缓冲效果增加了模型求解的复杂度.针对上述问题,研究了含储能及新能源发电的居民侧需求响应策略.考虑了新能源发电随机性和电池缓冲作用,建立了居民侧两阶段随机规划需求响应模型以降低预测误差对需求响应策略带来的风险成本.此外,在模型精度和计算复杂度之间进行了折中,使模型不依赖于复杂的智能算法即可快速求解.通过与不考虑随机性的需求响应策略对比,验证了本文提出的需求响应策略的有效性.