针对茶园拖拉机(tractor in tea plantation,TTP)在作业时进行避障转弯极易发生侧翻、倾覆等安全问题,提出一种基于Bezier曲线优化的避障稳定路径控制方法.首先,从作业场景和运行稳定性两个方面进行运动学分析,系统分析了TTP安全作业特...针对茶园拖拉机(tractor in tea plantation,TTP)在作业时进行避障转弯极易发生侧翻、倾覆等安全问题,提出一种基于Bezier曲线优化的避障稳定路径控制方法.首先,从作业场景和运行稳定性两个方面进行运动学分析,系统分析了TTP安全作业特点;然后,针对TTP设计了一种避障路径规划系统方案及Bezier曲线路径优化控制方法,该方法拟合出的路径具有路径光滑、曲率连续、初末位置曲率相同等优点;最后,在CarSim仿真平台搭建TTP模型和坡道避障作业的环境模型,验证并分析横摆角速度、质心侧偏角两项重要的操稳性参数.结果表明:TTP在Bezier曲线拟合的避障路径控制方法下当运行速度小于转向极限速度时,运行稳定性良好,当转向速度超过极限速度的65.1%,其横摆角速度和质心侧偏角的超调量变化率分别达到了50.3%和78.6%;同时在该避障控制方法下,随着坡度的增加,即使速度保证在极限速度以下,TTP稳定性也会进一步恶化;在极限坡度角范围内,坡度角增大10°,其横摆角速度和质心侧偏角的超调量变化率平均达到了32.8%和14.5%.展开更多
Directly applying the B-spline interpolation function to process plate cams in a computer numerical control(CNC)system may produce verbose tool-path codes and unsmooth trajectories.This paper is devoted to addressing ...Directly applying the B-spline interpolation function to process plate cams in a computer numerical control(CNC)system may produce verbose tool-path codes and unsmooth trajectories.This paper is devoted to addressing the problem of B-splinefitting for cam pitch curves.Considering that the B-spline curve needs to meet the motion law of the follower to approximate the pitch curve,we use the radial error to quantify the effects of thefitting B-spline curve and the pitch curve.The problem thus boils down to solving a difficult global optimization problem tofind the numbers and positions of the control points or data points of the B-spline curve such that the cumulative radial error between thefitting curve and the original curve is minimized,and this problem is attempted in this paper with a double deep Q-network(DDQN)reinforcement learning(RL)algorithm with data points traceability.Specifically,the RL envir-onment,actions set and current states set are designed to facilitate the search of the data points,along with the design of the reward function and the initialization of the neural network.The experimental results show that when the angle division value of the actions set isfixed,the proposed algorithm can maximize the number of data points of the B-spline curve,and accurately place these data points to the right positions,with the minimum average of radial errors.Our work establishes the theoretical foundation for studying splinefitting using the RL method.展开更多
This work puts forward an explicit isogeometric topology optimization(ITO)method using moving morphable components(MMC),which takes the suitably graded truncated hierarchical B-Spline based isogeometric analysis as th...This work puts forward an explicit isogeometric topology optimization(ITO)method using moving morphable components(MMC),which takes the suitably graded truncated hierarchical B-Spline based isogeometric analysis as the solver of physical unknown(SGTHB-ITO-MMC).By applying properly basis graded constraints to the hierarchical mesh of truncated hierarchical B-splines(THB),the convergence and robustness of the SGTHB-ITOMMC are simultaneously improved and the tiny holes occurred in optimized structure are eliminated,due to the improved accuracy around the explicit structural boundaries.Moreover,an efficient computational method is developed for the topological description functions(TDF)ofMMC under the admissible hierarchicalmesh,which consists of reducing the dimensionality strategy for design space and the locally computing strategy for hierarchical mesh.We apply the above SGTHB-ITO-MMC with improved efficiency to a series of 2D and 3Dcompliance design problems.The numerical results show that the proposed SGTHB-ITO-MMC method outperforms the traditional THB-ITO-MMCmethod in terms of convergence rate and efficiency.Therefore,the proposed SGTHB-ITO-MMC is an effective way of solving topology optimization(TO)problems.展开更多
A B-spline Interpolation Transport Solver(BITS) based on a collocation method is developed. It solves transport equations as a generalized interpolation problem, taking the first-order accuracy in time and the second-...A B-spline Interpolation Transport Solver(BITS) based on a collocation method is developed. It solves transport equations as a generalized interpolation problem, taking the first-order accuracy in time and the second-order accuracy in space along with a predictor–corrector or under-relaxation iteration method. Numerical tests show that BITS can solve one-dimensional transport equations for tokamak plasma more accurately without additional computation cost, compared to the finite difference method transport solver which is widely used in existing tokamak transport codes.展开更多
舌诊是中医望诊的重要手段,同时,温度与人体的健康息息相关。为了研究舌面的脏腑功能定位及舌象温度关系的反映,论文提出了一种红外技术的感兴趣区域(region of interest, ROI)模型研究方法。首先,利用葛立恒扫描法和Bezier曲线对多边形...舌诊是中医望诊的重要手段,同时,温度与人体的健康息息相关。为了研究舌面的脏腑功能定位及舌象温度关系的反映,论文提出了一种红外技术的感兴趣区域(region of interest, ROI)模型研究方法。首先,利用葛立恒扫描法和Bezier曲线对多边形ROI模型进行改进;然后,借助U-Net分割网络将提取出的温度信息进行训练与学习,从而做到批量处理舌体温度信息;最后,利用HSV色彩模型进行3D可视化,达成舌象温度分区的可视化研究。此外,为了验证该方法的准确性,实验还对模型截取出的舌体进行了评价指标验证,准确度可以达到0.991 1,分割效果极佳。研究表明:改进后的红外信息提取技术既能直观地观察到舌体的分区状况,也可以完整保留舌体的信息变化,为中医的数据化提供了完整可行性方案。实现了舌体红外信息数据的提取与中医诊断技术的有机结合。解决了中医一体化望诊的舌体信息完整性及准确性问题。展开更多
文摘针对茶园拖拉机(tractor in tea plantation,TTP)在作业时进行避障转弯极易发生侧翻、倾覆等安全问题,提出一种基于Bezier曲线优化的避障稳定路径控制方法.首先,从作业场景和运行稳定性两个方面进行运动学分析,系统分析了TTP安全作业特点;然后,针对TTP设计了一种避障路径规划系统方案及Bezier曲线路径优化控制方法,该方法拟合出的路径具有路径光滑、曲率连续、初末位置曲率相同等优点;最后,在CarSim仿真平台搭建TTP模型和坡道避障作业的环境模型,验证并分析横摆角速度、质心侧偏角两项重要的操稳性参数.结果表明:TTP在Bezier曲线拟合的避障路径控制方法下当运行速度小于转向极限速度时,运行稳定性良好,当转向速度超过极限速度的65.1%,其横摆角速度和质心侧偏角的超调量变化率分别达到了50.3%和78.6%;同时在该避障控制方法下,随着坡度的增加,即使速度保证在极限速度以下,TTP稳定性也会进一步恶化;在极限坡度角范围内,坡度角增大10°,其横摆角速度和质心侧偏角的超调量变化率平均达到了32.8%和14.5%.
基金supported by Fujian Province Nature Science Foundation under Grant No.2018J01553.
文摘Directly applying the B-spline interpolation function to process plate cams in a computer numerical control(CNC)system may produce verbose tool-path codes and unsmooth trajectories.This paper is devoted to addressing the problem of B-splinefitting for cam pitch curves.Considering that the B-spline curve needs to meet the motion law of the follower to approximate the pitch curve,we use the radial error to quantify the effects of thefitting B-spline curve and the pitch curve.The problem thus boils down to solving a difficult global optimization problem tofind the numbers and positions of the control points or data points of the B-spline curve such that the cumulative radial error between thefitting curve and the original curve is minimized,and this problem is attempted in this paper with a double deep Q-network(DDQN)reinforcement learning(RL)algorithm with data points traceability.Specifically,the RL envir-onment,actions set and current states set are designed to facilitate the search of the data points,along with the design of the reward function and the initialization of the neural network.The experimental results show that when the angle division value of the actions set isfixed,the proposed algorithm can maximize the number of data points of the B-spline curve,and accurately place these data points to the right positions,with the minimum average of radial errors.Our work establishes the theoretical foundation for studying splinefitting using the RL method.
基金supported by the National Key R&D Program of China (2020YFB1708300)the Project funded by the China Postdoctoral Science Foundation (2021M701310).
文摘This work puts forward an explicit isogeometric topology optimization(ITO)method using moving morphable components(MMC),which takes the suitably graded truncated hierarchical B-Spline based isogeometric analysis as the solver of physical unknown(SGTHB-ITO-MMC).By applying properly basis graded constraints to the hierarchical mesh of truncated hierarchical B-splines(THB),the convergence and robustness of the SGTHB-ITOMMC are simultaneously improved and the tiny holes occurred in optimized structure are eliminated,due to the improved accuracy around the explicit structural boundaries.Moreover,an efficient computational method is developed for the topological description functions(TDF)ofMMC under the admissible hierarchicalmesh,which consists of reducing the dimensionality strategy for design space and the locally computing strategy for hierarchical mesh.We apply the above SGTHB-ITO-MMC with improved efficiency to a series of 2D and 3Dcompliance design problems.The numerical results show that the proposed SGTHB-ITO-MMC method outperforms the traditional THB-ITO-MMCmethod in terms of convergence rate and efficiency.Therefore,the proposed SGTHB-ITO-MMC is an effective way of solving topology optimization(TO)problems.
基金the National MCF Energy R&D Program of China(No.2019YFE03040004)the Comprehensive Research Facility for Fusion Technology Program of China(No.2018-000052-73-01-001228)the National MCF Energy R&D Program of China(No.2019YFE03060000)。
文摘A B-spline Interpolation Transport Solver(BITS) based on a collocation method is developed. It solves transport equations as a generalized interpolation problem, taking the first-order accuracy in time and the second-order accuracy in space along with a predictor–corrector or under-relaxation iteration method. Numerical tests show that BITS can solve one-dimensional transport equations for tokamak plasma more accurately without additional computation cost, compared to the finite difference method transport solver which is widely used in existing tokamak transport codes.
文摘舌诊是中医望诊的重要手段,同时,温度与人体的健康息息相关。为了研究舌面的脏腑功能定位及舌象温度关系的反映,论文提出了一种红外技术的感兴趣区域(region of interest, ROI)模型研究方法。首先,利用葛立恒扫描法和Bezier曲线对多边形ROI模型进行改进;然后,借助U-Net分割网络将提取出的温度信息进行训练与学习,从而做到批量处理舌体温度信息;最后,利用HSV色彩模型进行3D可视化,达成舌象温度分区的可视化研究。此外,为了验证该方法的准确性,实验还对模型截取出的舌体进行了评价指标验证,准确度可以达到0.991 1,分割效果极佳。研究表明:改进后的红外信息提取技术既能直观地观察到舌体的分区状况,也可以完整保留舌体的信息变化,为中医的数据化提供了完整可行性方案。实现了舌体红外信息数据的提取与中医诊断技术的有机结合。解决了中医一体化望诊的舌体信息完整性及准确性问题。
