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采摘机器人的路径规划系统动态性优化研究 被引量:1
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作者 李玉霞 王辉 《农机化研究》 北大核心 2024年第2期55-59,共5页
为进一步改善采摘机器人的工作性能,提出以动态调控为主导的理念,针对整机的路径规划系统展开优化研究。以当前果园采摘机器人的通用性结构组成为前提,将云平台数据处理与路径规划核心算法有效融合后搭建动态控制模型,分别针对路径规划... 为进一步改善采摘机器人的工作性能,提出以动态调控为主导的理念,针对整机的路径规划系统展开优化研究。以当前果园采摘机器人的通用性结构组成为前提,将云平台数据处理与路径规划核心算法有效融合后搭建动态控制模型,分别针对路径规划系统的硬件配置与软件控制进行合理设计,得到可应用于采摘实践且布局完整的路径规划系统。展开动态性优化下的采摘作业试验,结果表明:优化后采摘机器人路径规划系统的整体路径搜索率与路径平滑性得到明显提升,相对提升度分别为10.93%和9.71%,路径偏离率相对降低了50%左右,很好地优化了机器人的避障能力,满足系统稳定性需求,具有较高的实用价值。 展开更多
关键词 采摘机器人 路径规划 动态控制 路径搜索率 避障
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A method of searching fault propagation paths in mechatronic systems based on MPPS model 被引量:2
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作者 WANG Yan-hui LI Man SHI Hao 《Journal of Central South University》 SCIE EI CAS CSCD 2018年第9期2199-2218,共20页
In view of the structure and action behavior of mechatronic systems,a method of searching fault propagation paths called maximum-probability path search(MPPS)is proposed,aiming to determine all possible failure propag... In view of the structure and action behavior of mechatronic systems,a method of searching fault propagation paths called maximum-probability path search(MPPS)is proposed,aiming to determine all possible failure propagation paths with their lengths if faults occur.First,the physical structure system,function behavior,and complex network theory are integrated to define a system structural-action network(SSAN).Second,based on the concept of SSAN,two properties of nodes and edges,i.e.,the topological property and reliability property,are combined to define the failure propagation property.Third,the proposed MPPS model provides all fault propagation paths and possible failure rates of nodes on these paths.Finally,numerical experiments have been implemented to show the accuracy and advancement compared with the methods of Function Space Iteration(FSI)and the algorithm of Ant Colony Optimization(ACO). 展开更多
关键词 mechatronic systems complex networks fault propagation path maximum-probability path search(MPPS)
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A Fast and Memory-Efficient Approach to NDN Name Lookup 被引量:4
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作者 Dacheng He Dafang Zhang +2 位作者 Ke Xu Kun Huang Yanbiao Li 《China Communications》 SCIE CSCD 2017年第10期61-69,共9页
For name-based routing/switching in NDN, the key challenges are to manage large-scale forwarding Tables, to lookup long names of variable lengths, and to deal with frequent updates. Hashing associated with proper leng... For name-based routing/switching in NDN, the key challenges are to manage large-scale forwarding Tables, to lookup long names of variable lengths, and to deal with frequent updates. Hashing associated with proper length-detecting is a straightforward yet efficient solution. Binary search strategy can reduce the number of required hash detecting in the worst case. However, to assure the searching path correct in such a schema, either backtrack searching or redundantly storing some prefixes is required, leading to performance or memory issues as a result. In this paper, we make a deep study on the binary search, and propose a novel mechanism to ensure correct searching path without neither additional backtrack costs nor redundant memory consumptions. Along any binary search path, a bloom filter is employed at each branching point to verify whether a said prefix is present, instead of storing that prefix here. By this means, we can gain significantly optimization on memory efficiency, at the cost of bloom checking before each detecting. Our evaluation experiments on both real-world and randomly synthesized data sets demonstrate our superiorities clearly 展开更多
关键词 named data networking binary search of hash table bloom filter
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