KNOT POINT PLANNING FOR CARTESIAN TRAJECTORY GENERATION BASED ON INHERITANCE BISECTION ALGORITHM

The computation algorithm of knot point planning for Cartesian trajectorygeneration of manipulator is investigated, A novel inheritance bisection algorithm (IBA) based onconventional bisection algorithm (B A) is proposed. IBA has two steps. The first step is the 1 stknot point planning under lower set position accuracy; the second step is the 2nd knot pointplanning that inherits the results of the 1st planning under higher set position accuracy. Thesimulation results reveal that the number of inverse kinematical calculation (IKC) caused by IBA isdecreased compared with BA. IBA is more efficient to plan knot points.

Determination of Weak Points Based on Risk Theory and Application to Transmission Network Planning

In the traditional power transmission network planning,deterministic analysis methods are widely used.In such methods,all contingencies are deemed to have the same occurrence probability,which is not reasonable.In this paper,risk assessment is introduced to the process of transmission network planning considering the probabilistic characteristics of contingencies.Risk indices are given to determine the weak points of the transmission network based on local information,such as bus risk,line overload risk,contingency severity.The indices are calculated by the optimal cost control method based on risk theory,which can help planners to quickly determine weak points in the planning and find solution to them.For simplification,only line overload violation is considered.Finally,the proposed method is validated by an IEEE-RTS test system and a real power system in China from two aspects.In the first case,the original system is evaluated by the proposed method to find the weak points,and then four planning schemes are established,among which the best scheme is selected.In the second case,four initial planning schemes are established by combining the experiences of planners,and after the evaluation by using the proposed method,the best planning scheme is improved based on the information of weak points in the initial schemes,and the risk of improved scheme is reduced from 42 531.86 MW·h per year to 4 431.26 MW·h per year.

Motion Planning System for Bin Picking Using 3-D Point Cloud

In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which makes an object stand in line doesn’t exist. Therefore the motion planning system which considered a collision problem becomes important. In this paper, Information on the objects is measured by a laser range finder (LRF). The information is used as 3-D point cloud, and the objects are recognized by model-base. We propose search method of a grasping point for two-fingered robotic hand, and propose search method of a path to approach the grasping point without colliding with other objects.

Power Generation Expansion Planning Using an Interior Point with Cutting Plane （IP/CP） Method

The generation expansion planning is one of complex mixed-integer optimization problems, which involves a large number of continuous or discrete decision variables and constraints. In this paper, an interior point with cutting plane （IP/CP） method is proposed to solve the mixed-integer optimization problem of the electrical power generation expansion planning. The IP/CP method could improve the overall efficiency of the solution and reduce the computational time. Proposed method is combined with the Bender＇s decomposition technique in order to decompose the generation expansion problem into a master investment problem and a slave operational problem. The numerical example is presented to compare with the effectiveness of the proposed algorithm.

A Brief Discussion on the Penetration Point and Techniques of Tax Planning

Tax cost is one of the costs of business activities,and tax planning has become an indispensable financial activity.How to carry out effective tax planning has been the focus of enterprises.Therefore,this paper intends to discuss how to carry out tax planning from the penetration point and techniques of tax planning,with an aim to provide reference for enterprises’tax planning activities.

Impact Point Prediction and Lateral Correction Analysis of Two-dimensional Trajectory Correction Projectiles

Compared with the one-dimensional trajectory correction technology which adjusts longitudinal range, not only does the two-dimensional trajectory correction technology adjust the force in velocity direction, but also need to modulate the lateral force or trajectory (perpendicular to the vertical plane of fire direction). Therefore, the structure of control cabin of two-dimensional trajectory correction projectile (TDTCP) is more complicated than that of one-dimensional trajectory correction projectile (ODTCP). To simplify the structure of control cabin of TDTCP and reduce the cost, a scheme of adding a damping disk to the control cabin of ODTCP has been developed recently. The damping disk is unfolded at the right moment during its flight to change the ballistic drift of spin stabilized projectile. For this technical scheme of TDTCP, a fast and accurate impact point prediction method based on extended Kalman filter is presented. An approximate formula for predicting the ballistic drift and trajectory correction quantity is deduced. And the lateral correction capability for different fire angles and its influencing factors are analyzed. All the work is valuable for further research.

Charging Pile Siting Recommendations via the Fusion of Points of Interest and Vehicle Trajectories

By mining of the requirements of lots of electric vehicle users for charging piles, this paper proposes the charging pile siting algorithm via the fusion of Points of Interest and vehicle trajectories. The proposed algorithm computes appropriate charging pile locations by: 1) mining user Points of Interest from social network; 2) mining parking sites of vehicle form GPS trajectories and 3) fusing the Points of Interest and parking sites together then clustering the fusions with our improved DBSCAN algorithm, whose clustering results indicates the final appropriate charging pile locations. Experimental results show that our proposed methods are more efficient than existing methods.

Instantaneous Point, Line, and Plane Motions Using a Clifford Algebra

The motions of points, lines, and planes, embedded in a rigid body are expressed in a unified algebraic framework using a Clifford algebra. A Clifford algebra based displacement operator is addressed and its higher derivatives from which the coordinate-independent characteristic numbers with simple geometric meaning are defined. Because of the coordinate independent feature, no tedious coordinate transformation typically found in the conventional instantaneous invariants methods is needed.

Models for Predicting the Jet Trajectory and Intensity Drop Point of Fire Monitors

Two models are defined for predicting the trajectory of a foam jet originating from a fire monitor(hydrant)and the related intensity drop point.An experimental framework is also defined and used accordingly to compare real-time data with the predictions of such models.This mixed theoretical-experimental approach is proven to be effective for the determination of otherwise unknown coefficients which take into account several important factors such as the operation pressure,the elevation angle and the nozzle diameter.It is shown that the mean absolute error is smaller than 20%.

Development of China's Food Industry——Focal Points For China's Food Industry Development During the Ninth Five-Year Plan Period

1.Products of the basic rawmaterials industry Products of the basic raw materialsindustry should improve product quality,make great efforts to realize diversification,serialization and specialization in productvariety,develop new varieties,and expandproduction so as to adapt to the demands forthe development of the food industry. Cereals:Develop high quality riceand wheat flour on a grade and class basis;develop special rice and wheat flour suitablefor the needs of processing various kinds offood;actively utilize coarse cereals such ascorn to open up various kinds of

Projectile impact point prediction method based on GRNN

In order to forecast projectile impact points quickly and accurately,aprojectile impact point prediction method based on generalized regression neural network（GRNN）is presented.Firstly,the model of GRNN forecasting impact point is established;secondly,the particle swarm algorithm（PSD）is used to optimize the smooth factor in the prediction model and then the optimal GRNN impact point prediction model is obtained.Finally,the numerical simulation of this prediction model is carried out.Simulation results show that the maximum range error is no more than 40 m,and the lateral deviation error is less than0.2m.The average time of impact point prediction is 6.645 ms,which is 1 300.623 ms less than that of numerical integration method.Therefore,it is feasible and effective for the proposed method to forecast projectile impact points,and thus it can provide a theoretical reference for practical engineering applications.

A parallel algorithm for detecting traffic patterns using stay point features and moving features

In order to detect the traffic pattern of moving objects in the city more accurately and quickly, a parallel algorithm for detecting traffic patterns using stay points and moving features is proposed. First, the features of the stay points in different traffic patterns are extracted, that is, the stay points of various traffic patterns are identified, respectively, and the clustering algorithm is used to mine the unique features of the stop points to different traffic patterns. Then, the moving features in different traffic patterns are extracted from a trajectory of a moving object, including the maximum speed, the average speed, and the stopping rate. A classifier is constructed to predict the traffic pattern of the trajectory using the stay points and moving features. Finally, a parallel algorithm based on Spark is proposed to detect traffic patterns. Experimental results show that the stay points and moving features can reflect the difference between different traffic modes to a greater extent, and the detection accuracy is higher than those of other methods. In addition, the parallel algorithm can increase the speed of identifying traffic patterns.

FLOW PROPERTIES OF A DUSTY-GAS POINT SOURCE IN A SUPERSONIC FREE STREAM

By using Lagrangian method, the flow properties of a dusty-gas point source in a supersonic free stream were studied and the particle parameters in the near-symmetry-axis region were obtained . It is demonstrated that fairly inertial particles travel along oscillating and intersecting trajectories between the bow and termination shock waves . In this region, formation of ' mufti- layer structure' in panicle distribution with alternating low- and high density layers is revealed. Moreover, sharp accumulation of particles occurs near the envelopes of particle trajectories .

Relief Materials Vehicles Planning in Natural Disasters

A variety of relief materials needs to be transported to the disaster hit areas immediately after natural disasters. This paper studies the problem of planning relief materials vehicles in order to maximize their total weight. We propose a new method named substitution equilibrium point which can be used to plan relief materials vehicles. One feature of our model is to consider the substitution among vehicles which is usually omitted in the literature. The simulation experiments show that the transportation fleets are increased effectively considering the substitution between vehicles. Substitution equilibrium point has the same results as integer programming but has much lower time complexity.

Toward autonomous mining:design and development of an unmanned electric shovel via point cloud-based optimal trajectory planning

With the proposal of intelligent mines,unmanned mining has become a research hotspot in recent years.In the field of autonomous excavation,environmental perception and excavation trajectory planning are two key issues because they have considerable influences on operation performance.In this study,an unmanned electric shovel(UES)is developed,and key robotization processes consisting of environment modeling and optimal excavation trajectory planning are presented.Initially,the point cloud of the material surface is collected and reconstructed by polynomial response surface(PRS)method.Then,by establishing the dynamical model of the UES,a point to point(PTP)excavation trajectory planning method is developed to improve both the mining efficiency and fill factor and to reduce the energy consumption.Based on optimal trajectory command,the UES performs autonomous excavation.The experimental results show that the proposed surface reconstruction method can accurately represent the material surface.On the basis of reconstructed surface,the PTP trajectory planning method rapidly obtains a reasonable mining trajectory with high fill factor and mining efficiency.Compared with the common excavation trajectory planning approaches,the proposed method tends to be more capable in terms of mining time and energy consumption,ensuring high-performance excavation of the UES in practical mining environment.

Trajectory and Correction Maneuver During the Transfer from Earth to Halo Orbit

This article addresses the design of the trajectory transferring from Earth to Halo orbit, and proposes a timing closed-loop strategy of correction maneuver during the transfer in the frame of circular restricted three body problem （CR3BP）. The relation between the Floquet multipliers and the magnitudes of Halo orbit is established, so that the suitable magnitude for the aerospace mission is chosen in terms of the stability of Halo orbit. The stable manifold is investigated from the Poincar6 mapping defined which is different from the previous researches, and six types of single-impulse transfer trajectories are attained from the geometry of the invariant manifolds. Based on one of the trajectories of indirect transfer which are ignored in the most of literatures, the stochastic control theory for imperfect information of the discrete linear stochastic system is applied to design the trajectory correction maneuver. The statistical dispersion analysis is performed by Monte-Carlo simulation,

Soft Open Point Planning in Renewable-dominated Distribution Grids with Building Thermal Storage

With an increasing integration of intermittent distributed energy resources(DERs),the consequent voltage excursion and thermal overloading issues limit the self-sufficiency of distribution networks(DNs).The concept of soft open point(SOP)has been proposed as a promising solution to improve the hosting capacity of DNs.In this paper,considering the ability of building thermal storage(BTS)to increase the penetration of renewable energy in DNs,we provide an optimal planning framework for SOP and DER.The optimal planning model is aimed at minimizing the investment and operational costs while respecting various constraints,including the self-sufficiency requirement of the DN,SOP,building thermal storage capacity and DER operations,etc.A steady-state SOP model is formulated and linearized to be incorporated into the planning framework.To make full use of the BTS flexibility provided by ubiquitous buildings,a differential equation model for building thermal dynamics is formulated.A hybrid stochastic/robust optimization approach is adopted to depict the uncertainties in renewable energy and market prices.IEEE 33-bus feeder and a realistic DN in the metropolitan area of Caracas are tested to validate the effectiveness of the proposed framework and method.Case studies show that SOP/BTS plays a complementary and coordinated coupling role in the thermo-electric system,thereby effectively improving the hosting capacity and self-sufficiency of DNs.

Ant Colony Algorithm for Path Planning Based on Grid Feature Point Extraction

Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony algorithm for use in a new environment is proposed.First,the feature points of an obstacle are extracted to preprocess the grid map environment,which can avoid entering a trap and solve the deadlock problem.Second,these feature points are used as pathfinding access nodes to reduce the node access,with more moving directions to be selected,and the locations of the feature points to be selected determine the range of the pathfinding field of view.Then,based on the feature points,an unequal distribution of pheromones and a two-way parallel path search are used to improve the construction efficiency of the solution,an improved heuristic function is used to enhance the guiding role of the path search,and the pheromone volatilization coefficient is dynamically adjusted to avoid a premature convergence of the algorithm.Third,a Bezier curve is used to smooth the shortest path obtained.Finally,using grid maps with a different complexity and different scales,a simulation comparing the results of the proposed algorithm with those of traditional and other improved ant colony algorithms verifies its feasibility and superiority.