The problem of passive detection discussed in this paper involves searching and locating an aerial emitter by dualaircraft using passive radars. In order to improve the detection probability and accuracy, a fuzzy Q le...The problem of passive detection discussed in this paper involves searching and locating an aerial emitter by dualaircraft using passive radars. In order to improve the detection probability and accuracy, a fuzzy Q learning algorithrn for dual-aircraft flight path planning is proposed. The passive detection task model of the dual-aircraft is set up based on the partition of the target active radar＇s radiation area. The problem is formulated as a Markov decision process （MDP） by using the fuzzy theory to make a generalization of the state space and defining the transition functions, action space and reward function properly. Details of the path planning algorithm are presented. Simulation results indicate that the algorithm can provide adaptive strategies for dual-aircraft to control their flight paths to detect a non-maneuvering or maneu- vering target.展开更多
A scheme of dual-manipulator coordination motion planning for robot satellite (RS) is proposed.Based on the analysis of RS motion characteristics in micro-gravity environment, two manipulators are divided into main ma...A scheme of dual-manipulator coordination motion planning for robot satellite (RS) is proposed.Based on the analysis of RS motion characteristics in micro-gravity environment, two manipulators are divided into main manipulator and assistant manipulator. Then, four kinds of coordination modes for dual-manipulator RS, namely,stablizing function, counterbalancing function, adjusting function and coorperative operation are presented. Motion planning algorithm for dual-manipulator is also presented.Finally, computer simulation results of the four kinds of coordination modes for a RS experimental model capturing target operation in micro-gravity environment are given.Simulation experiments show that the coordination modes and planning algorithm proposed in this paper are effective.展开更多
A distribution network plays an extremely important role in the safe and efficient operation of a power grid.As the core part of a power grid’s operation,a distribution network will have a significant impact on the s...A distribution network plays an extremely important role in the safe and efficient operation of a power grid.As the core part of a power grid’s operation,a distribution network will have a significant impact on the safety and reliability of residential electricity consumption.it is necessary to actively plan and modify the distribution network’s structure in the power grid,improve the quality of the distribution network,and optimize the planning of the distribution network,so that the network can be fully utilized to meet the needs of electricity consumption.In this paper,a distribution network grid planning algorithm based on the reliability of electricity consumption was completed using ant colony algorithm.For the distribution network structure planning of dual power sources,the parallel ant colony algorithm was used to prove that the premise of parallelism is the interactive process of ant colonies,and the dual power distribution network structure model is established based on the principle of the lowest cost.The artificial ants in the algorithm were compared with real ants in nature,and the basic steps and working principle of the ant colony optimization algorithm was studied with the help of the travelling salesman problem(TSP).Then,the limitations of the ant colony algorithm were analyzed,and an improvement strategy was proposed by using python for digital simulation.The results demonstrated the reliability of model-building and algorithm improvement.展开更多
A profound approach about dual arm robot collision free motion planning is made. The method of configuration space is first and successfully applied to the collision free motion planning of dual arm robot, and a n...A profound approach about dual arm robot collision free motion planning is made. The method of configuration space is first and successfully applied to the collision free motion planning of dual arm robot, and a new concept, slave arm collision state graph, is presented. In this algorithm ,the problem of dual arm robot collision free motion planning is reduced to a search in the collision state graph. With this algorithm, a time optimum trajectory would be found, or the condition that there is no feasible solution for the slave arm is proved. A verification of this algorithm is made in the dual arm horizontal articulated robot SCARATES, and the results ascertain that the algorithm is feasible and effective.展开更多
基金supported by the National Natural Science Foundation of China(60874040)
文摘The problem of passive detection discussed in this paper involves searching and locating an aerial emitter by dualaircraft using passive radars. In order to improve the detection probability and accuracy, a fuzzy Q learning algorithrn for dual-aircraft flight path planning is proposed. The passive detection task model of the dual-aircraft is set up based on the partition of the target active radar＇s radiation area. The problem is formulated as a Markov decision process （MDP） by using the fuzzy theory to make a generalization of the state space and defining the transition functions, action space and reward function properly. Details of the path planning algorithm are presented. Simulation results indicate that the algorithm can provide adaptive strategies for dual-aircraft to control their flight paths to detect a non-maneuvering or maneu- vering target.
文摘A scheme of dual-manipulator coordination motion planning for robot satellite (RS) is proposed.Based on the analysis of RS motion characteristics in micro-gravity environment, two manipulators are divided into main manipulator and assistant manipulator. Then, four kinds of coordination modes for dual-manipulator RS, namely,stablizing function, counterbalancing function, adjusting function and coorperative operation are presented. Motion planning algorithm for dual-manipulator is also presented.Finally, computer simulation results of the four kinds of coordination modes for a RS experimental model capturing target operation in micro-gravity environment are given.Simulation experiments show that the coordination modes and planning algorithm proposed in this paper are effective.
文摘A distribution network plays an extremely important role in the safe and efficient operation of a power grid.As the core part of a power grid’s operation,a distribution network will have a significant impact on the safety and reliability of residential electricity consumption.it is necessary to actively plan and modify the distribution network’s structure in the power grid,improve the quality of the distribution network,and optimize the planning of the distribution network,so that the network can be fully utilized to meet the needs of electricity consumption.In this paper,a distribution network grid planning algorithm based on the reliability of electricity consumption was completed using ant colony algorithm.For the distribution network structure planning of dual power sources,the parallel ant colony algorithm was used to prove that the premise of parallelism is the interactive process of ant colonies,and the dual power distribution network structure model is established based on the principle of the lowest cost.The artificial ants in the algorithm were compared with real ants in nature,and the basic steps and working principle of the ant colony optimization algorithm was studied with the help of the travelling salesman problem(TSP).Then,the limitations of the ant colony algorithm were analyzed,and an improvement strategy was proposed by using python for digital simulation.The results demonstrated the reliability of model-building and algorithm improvement.
文摘A profound approach about dual arm robot collision free motion planning is made. The method of configuration space is first and successfully applied to the collision free motion planning of dual arm robot, and a new concept, slave arm collision state graph, is presented. In this algorithm ,the problem of dual arm robot collision free motion planning is reduced to a search in the collision state graph. With this algorithm, a time optimum trajectory would be found, or the condition that there is no feasible solution for the slave arm is proved. A verification of this algorithm is made in the dual arm horizontal articulated robot SCARATES, and the results ascertain that the algorithm is feasible and effective.
