To realize automatic manipulation of micro-particles by light-induced dielectrophoresis （LDEP）, a path-planning scheme based on the improved artificial potential field （APF） for micro light pattern movements is pr...To realize automatic manipulation of micro-particles by light-induced dielectrophoresis （LDEP）, a path-planning scheme based on the improved artificial potential field （APF） for micro light pattern movements is proposed. An algorithm combining guided target and point obstacle based on a new local minimum judging criterion is specially designed, which can solve the local minimum problems encountered by the traditional APF. Experiments of real-time particle manipulation based on this algorithm are implemented and the experimental results show that the proposed approach can overcome the local minimum problems of the traditional APF method, and it is validated to be highly stable for intensive particle obstacles during LDEP manipulation. Consequently, this method can realize real-time manipulation of micro-nano particles with safety, decrease the difficulty of manual manipulation, and thus improve the efficiency of manipulation of micro-particles.展开更多
ln order to ensure the safety and efficiency of the section tracking operation of a guided transport system,a safety headway control method of section tracking based on intersection conditions is proposed in this pape...ln order to ensure the safety and efficiency of the section tracking operation of a guided transport system,a safety headway control method of section tracking based on intersection conditions is proposed in this paper.Considering the difference of signal phase,the evaluation model of road conditions was established based on a fuzzy comprehensive evaluation method,FAGT.Based on the artificial potential field method,the time-varying hybrid artificial potential field(TH-APF)method was proposed,and the tracking headway control algorithm was designed to realize the dynamic control of the tracking headway of the guide transport vehicle.The simulation results verified the effectiveness and applicability of the evaluation model of intersection road conditions;the tracking headway can be maintained at about 120 s.The tracking headway control algorithm of guided transport vehicles can respond to the road conditions and avoid the local optimum of the artificial potential field method,thus improving the operating efficiency.展开更多
Coordinating multiple unmanned aerial vehicles(multi-UAVs)is a challenging technique in highly dynamic and sophisticated environments.Based on digital pheromones as well as current mainstream unmanned system controlli...Coordinating multiple unmanned aerial vehicles(multi-UAVs)is a challenging technique in highly dynamic and sophisticated environments.Based on digital pheromones as well as current mainstream unmanned system controlling algorithms,we propose a strategy for multi-UAVs to acquire targets with limited prior knowledge.In particular,we put forward a more reasonable and effective pheromone update mechanism,by improving digital pheromone fusion algorithms for different semantic pheromones and planning individuals’probabilistic behavioral decision-making schemes.Also,inspired by the flocking model in nature,considering the limitations of some individuals in perception and communication,we design a navigation algorithm model on top of Olfati-Saber’s algorithm for flocking control,by further replacing the pheromone scalar to a vector.Simulation results show that the proposed algorithm can yield superior performance in terms of coverage,detection and revisit efficiency,and the capability of obstacle avoidance.展开更多
基金The National Natural Science Foundation of China(No.91023024,51175083)Scientific Research Foundation of Graduate School of Southeast University(No.YBJJ1020)Jiangsu Graduate Innovative Research Program(No.CX10B_062Z).
文摘To realize automatic manipulation of micro-particles by light-induced dielectrophoresis （LDEP）, a path-planning scheme based on the improved artificial potential field （APF） for micro light pattern movements is proposed. An algorithm combining guided target and point obstacle based on a new local minimum judging criterion is specially designed, which can solve the local minimum problems encountered by the traditional APF. Experiments of real-time particle manipulation based on this algorithm are implemented and the experimental results show that the proposed approach can overcome the local minimum problems of the traditional APF method, and it is validated to be highly stable for intensive particle obstacles during LDEP manipulation. Consequently, this method can realize real-time manipulation of micro-nano particles with safety, decrease the difficulty of manual manipulation, and thus improve the efficiency of manipulation of micro-particles.
基金supported by National Key R&D Program of China(Grant No.2021YFF0501102)National Natural Science Foundation of China(Grant No.U1934219)+1 种基金National Science Fund for Excellent Young Scholars(Grant No.52022010)State Key Laboratory of Rail Traffic Control and Safety(Contract No.RCS2022ZI002).
文摘ln order to ensure the safety and efficiency of the section tracking operation of a guided transport system,a safety headway control method of section tracking based on intersection conditions is proposed in this paper.Considering the difference of signal phase,the evaluation model of road conditions was established based on a fuzzy comprehensive evaluation method,FAGT.Based on the artificial potential field method,the time-varying hybrid artificial potential field(TH-APF)method was proposed,and the tracking headway control algorithm was designed to realize the dynamic control of the tracking headway of the guide transport vehicle.The simulation results verified the effectiveness and applicability of the evaluation model of intersection road conditions;the tracking headway can be maintained at about 120 s.The tracking headway control algorithm of guided transport vehicles can respond to the road conditions and avoid the local optimum of the artificial potential field method,thus improving the operating efficiency.
基金Project supported by the National Key R&D Program of China(No.2017YFB1301003)the National Natural Science Foundation of China(Nos.61701439 and 61731002)+2 种基金the Zhejiang Key Research and Development Plan(Nos.2019C01002and 2019C03131)the Pro ject sponsored by Zhejiang Lab(No.2019LC0AB01)the Zhejiang Provincial Natural Science Foundation of China(No.LY20F010016)。
文摘Coordinating multiple unmanned aerial vehicles(multi-UAVs)is a challenging technique in highly dynamic and sophisticated environments.Based on digital pheromones as well as current mainstream unmanned system controlling algorithms,we propose a strategy for multi-UAVs to acquire targets with limited prior knowledge.In particular,we put forward a more reasonable and effective pheromone update mechanism,by improving digital pheromone fusion algorithms for different semantic pheromones and planning individuals’probabilistic behavioral decision-making schemes.Also,inspired by the flocking model in nature,considering the limitations of some individuals in perception and communication,we design a navigation algorithm model on top of Olfati-Saber’s algorithm for flocking control,by further replacing the pheromone scalar to a vector.Simulation results show that the proposed algorithm can yield superior performance in terms of coverage,detection and revisit efficiency,and the capability of obstacle avoidance.
