ADAPTIVE GENETIC ALGORITHM BASED ON SIX FUZZY LOGIC CONTROLLERS

The performance of genetic algorithm(GA) is determined by the capability of search and optimization for satisfactory solutions. The new adaptive genetic algorithm(AGA) is built for inducing suitable search and optimization relationship. The use of six fuzzy logic controllers(6FLCs) is proposed for dynamic control genetic operating parameters of a symbolic-coded GA. This paper uses AGA based on 6FLCs to deal with the travelling salesman problem (TSP). Experimental results show that AGA based on 6FLCs is more efficient than a standard GA in solving combinatorial optimization problems similar to TSP.

A Linear Domain System Identification for Small Unmanned Aerial Rotorcraft Based on Adaptive Genetic Algorithm

This paper proposes a new adaptive linear domain system identification method for small unmanned aerial rotorcraft.Byusing the flash memory integrated into the micro guide navigation control module, system records the data sequences of flighttests as inputs (control signals for servos) and outputs (aircraft’s attitude and velocity information).After data preprocessing, thesystem constructs the horizontal and vertical dynamic model for the small unmanned aerial rotorcraft using adaptive geneticalgorithm.The identified model is verified by a series of simulations and tests.Comparison between flight data and the one-stepprediction data obtained from the identification model shows that the dynamic model has a good estimation for real unmannedaerial rotorcraft system.Based on the proposed dynamic model, the small unmanned aerial rotorcraft can perform hovering,turning, and straight flight tasks in real flight tests.

An improved self-calibration approach based on adaptive genetic algorithm for position-based visual servo

An improved self-calibrating algorithm for visual servo based on adaptive genetic algorithm is proposed in this paper. Our approach introduces an extension of Mendonca-Cipolla and G. Chesi＇s self-calibration for the positionbased visual servo technique which exploits the singular value property of the essential matrix. Specifically, a suitable dynamic online cost function is generated according to the property of the three singular values. The visual servo process is carried out simultaneous to the dynamic self-calibration, and then the cost function is minimized using the adaptive genetic algorithm instead of the gradient descent method in G. Chesi＇s approach. Moreover, this method overcomes the limitation that the initial parameters must be selected close to the true value, which is not constant in many cases. It is not necessary to know exactly the camera intrinsic parameters when using our approach, instead, coarse coding bounds of the five parameters are enough for the algorithm, which can be done once and for all off-line. Besides, this algorithm does not require knowledge of the 3D model of the object. Simulation experiments are carried out and the results demonstrate that the proposed approach provides a fast convergence speed and robustness against unpredictable perturbations of camera parameters, and it is an effective and efficient visual servo algorithm.

A New Fuzzy Adaptive Genetic Algorithm

Multiple genetic algorithms (GAs) need a large population size, which will take a long time for evolution. A new fuzzy adaptive GA is proposed in this paper. This algorithm is more effective in global search while keeping the overall population size constant. The simulation results of function optimization show that with the proposed algorithm, the phenomenon of premature convergence can be overcome effectively, and a satisfying optimization result is obtained.

THE EFFECTIVENESS OF GENETIC ALGORITHM IN CAPTURING CONDITIONAL NONLINEAR OPTIMAL PERTURBATION WITH PARAMETERIZATION “ON-OFF” SWITCHES INCLUDED BY A MODEL

In the typhoon adaptive observation based on conditional nonlinear optimal perturbation (CNOP), the ‘on-off’ switch caused by moist physical parameterization in prediction models prevents the conventional adjoint method from providing correct gradient during the optimization process. To address this problem, the capture of CNOP, when the "on-off" switches are included in models, is treated as non-smooth optimization in this study, and the genetic algorithm (GA) is introduced. After detailed algorithm procedures are formulated using an idealized model with parameterization "on-off" switches in the forcing term, the impacts of "on-off" switches on the capture of CNOP are analyzed, and three numerical experiments are conducted to check the effectiveness of GA in capturing CNOP and to analyze the impacts of different initial populations on the optimization result. The result shows that GA is competent for the capture of CNOP in the context of the idealized model with parameterization ‘on-off’ switches in this study. Finally, the advantages and disadvantages of GA in capturing CNOP are analyzed in detail.

TOPOLOGY OPTIMIZATION OF TRUSS STRUCTURE WITH FUNDAMENTAL FREQUENCY AND FREQUENCY DOMAIN DYNAMIC RESPONSE CONSTRAINTS

In this paper, adaptive genetic algorithm （AGA） is applied to topology optimization of truss structure with frequency domain excitations. The optimization constraints include fundamental frequency, displacement responses under force excitations and acceleration responses under foundation acceleration excitations. The roulette wheel selection operator, adaptive crossover and mutation operators are used as genetic operators. Some heuristic strategies are put forward to direct the deletion of the extra bars and nodes on truss structures. Three examples demonstrate that the proposed method can yield the optimum structure form and the lightest weight of the given ground structure while satisfying dynamic response constraints.

Dynamic Resource Scheduling in Emergency Environment

Nowadays,emergency accidents could happen at any time.The accidents occur unpredictably and the accidents requirements are diversely.The accidents happen in a dynamic environment and the resource should be cooperative to solve the accidents.Most methods are focusing on minimizing the casualties and property losses in a static environment.However,they are lack in considering the dynamic and unpredictable event handling.In this paper,we propose a representative environmental model in representation of emergency and dynamic resource allocation model,and an adaptive mathematical model based on Genetic Algorithm(GA)to generate an optimal set of solution domain.The experimental results show that the proposed algorithm can get a set of better candidate solutions.

基于AGPF的目标定位精度改善方法

针对传统遗传算法粒子滤波容易因遗传操作参数恒定不变而陷入局部最优的问题,在遗传算法粒子滤波中引入自适应方法,提出自适应遗传算法粒子滤波。根据粒子适应度的大小,动态调节遗传操作的交叉、突变概率,从而在尽可能多地保留优势粒子的同时更有效地产生新的优势粒子,跳出局部最优。将自适应遗传算法粒子滤波应用于动态目标定位模型,并将其与遗传算法粒子滤波的性能进行比较。结果表明,自适应方法的引入可以增加算法有效粒子数,有效解决算法早熟问题,改善滤波精度,对于提高动态目标定位精度是有效的。

基于动态缩减机制的多策略单亲遗传算法求解CVRP问题

针对传统遗传算法求解带容量约束的车辆路径问题(CVRP)时存在易早熟、收敛速度慢、精度低等问题,提出一种基于动态缩减机制的多策略单亲遗传算法。基于同类个体实现对寻优空间的划分,采用模拟退火准则对最低类别子空间进行淘汰或更新,构成寻优空间的缩减和移动机制;基于单亲遗传算法,综合设计了组内、组间、整体搜索,以及扰动与跳跃的多种遗传进化策略;为适应度函数设计了基于个体发展、种群进化、整体收敛3个罚因子的自适应罚函数分量,对不可行解作出更有效惩罚。通过对3组CVRP问题实例进行仿真实验分析,结果表明:该算法在种群质量、全局与局部寻优能力、求解精度和收敛速度等方面均得到改善和提升。

智能仓储多机器人动态任务分配方法

针对智能仓储系统中多机器人任务分配方法进行研究,根据智能仓储中物流任务数量庞大且实时新增的动态特点,创新地提出了一种总体分配并根据当前工况实时插入的动态任务分配方法,将一定时间阈值内的物流任务集合利用综合时间代价、路径代价、空载代价和任务均衡度代价的自适应多层编码遗传算法进行任务整体规划,为智能仓储系统中每个机器人分配需执行的物流任务序列及执行顺序。任务执行过程中,各机器人通过对当前自身剩余任务量成本及插入实时任务后路径成本的判断,在不影响当前任务完成总时间的情况下,对下一时间阈值内产生的实时物流任务是否插入当前执行任务序列展开竞争,实现任务的实时插入,未被实时插入的物流任务则等待下一次总体分配。实验结果表明,该方法能在缩短系统运行总时间和总路程的基础上,极大的降低机器人无任务空载等待的时间,提高系统运行效率。

基于跳点搜索-遗传算法的自主移动机器人路径规划

为了解决采用遗传算法解析最优路径中存在的转折点较多、易陷入局部最优解、迭代次数较多以及寻优时间过长等问题,引入自适应交叉算子和变异算子,将改进后的跳点搜索(jump point search)算法与改进遗传算法融合,得到跳点搜索-遗传(jump point search-genetic,JPSG)算法。JPSG算法利用JPS算法的高效局部搜索能力来提高整体搜索能力,加速算法整体收敛趋势;利用改进遗传算法的全局搜索能力改变JPS算法不能在复杂障碍物状况下解析最优路径的状态,提高算法对动态环境的适应性。在栅格矩阵中的路径规划仿真表明,相比于改进遗传算法、传统遗传算法,JPSG算法可以有效缩短寻优执行时间,提高寻优准确率,减少运算执行次数,在稳定性、准确性、快速性上具有明显的优势。

基于GPR代理模型和GA-APSO混合优化算法的软基水闸底板脱空反演

软基水闸底板脱空是水闸在长期服役期间受水流侵蚀等环境因素影响所产生的一种危害极大且难以察觉的病害。由于其病害部位于水下,传统方法难以检测,该研究提出一种基于高斯过程回归(Gaussian process regression,GPR)代理模型和遗传-自适应惯性权重粒子群(genetic algorithm-adaptive particle swarm optimization,GA-APSO)混合优化算法的水闸底板脱空动力学反演方法,用于检测软基水闸底板脱空。首先,构建表征软基水闸底板脱空参数和水闸结构模态参数之间非线性关系的GPR代理模型;其次,基于GPR代理模型与水闸实测模态参数建立脱空反演的最优化数学模型,将反演问题转化为目标函数最优化求解问题;最后,为提高算法寻优计算的精度,提出一种GA-APSO混合优化算法对目标函数进行脱空反演计算,并提出一种更合理判断反演脱空区域面积和实际脱空区域面积相对误差的指标—面积不重合度。为验证所提方法性能,以一室内软基水闸物理模型为例,对两种不同脱空工况开展研究分析,结果表明,反演脱空区域面积和模型实际设置脱空区域面积的相对误差分别为8.47%和10.77%,相对误差值较小,证明所提方法能有效反演出水闸底板脱空情况,可成为软基水闸底板脱空反演检测的一种新方法。

轮式搜救机器人地形自适应机构设计及越障性能分析

针对复杂地形环境下搜救机器人越障性能的要求,设计了一种轮式搜救机器人的被动地形自适应机构,并对其越障性能进行了分析。首先,在分析传统越障机构的基础上,开展了地形自适应机构的选型,并结合遗传算法对其进行优化,完成了对轮式搜救机器人被动地形自适应机构的设计。然后,基于达朗贝尔原理建立了轮式搜救机器人的动力学模型,并对其越障能力进行了分析与计算。最后,建立轮式搜救机器人的多刚体动力学模型,开展了越障性能仿真,并与理论计算结果进行了对比。对比结果验证了轮式搜救机器人的越障及地形自适应能力。研究结果可为轮式搜救机器人样机的搭建及后续研究的开展提供理论依据。

Application of dynamic vibration absorber for vertical vibration control of corrugated rolling mill

A variable mass tuned particle absorber is designed for the nonlinear vertical vibration control of the corrugated rolling mill in the composite plate rolling process.Considering the nonlinear damping and nonlinear stiffness between the corrugated interface,a three-degree-of-freedom nonlinear vertical vibration mathematical model of corrugated rolling mill based on dynamic vibration absorber control is established.The multi-scale method is used to solve the amplitude–frequency characteristic curve equation of the installed dynamic vibration absorber(DVA)system.The effects of stiffness coefficient and damping coefficient on the amplitude–frequency characteristic curve are analyzed.The expressions of the dynamic developed factor of the corrugated roll are derived,and the influence laws of mass ratio,frequency ratio and damping ratio on the dynamic amplification factor are analyzed.The optimal parameters of the DVA are obtained by adaptive genetic algorithm.The control effect of the DVA on the nonlinear vertical vibration is studied by numerical simulation.The feasibility of the designed dynamic absorber is verified through experiments.The results show that the designed dynamic absorber can effectively suppress the vertical vibration of the corrugated roller.

基于多时段动态电价的电动汽车有序充电策略优化

引导电动汽车充电负荷向低谷转移时,现有的分时静态电价与峰谷区间存在不匹配的现象,针对这一问题,提出了多时段动态电价引导策略,建立以电网端负荷差最小和用户侧充电成本最经济为目标的数学模型,并采用带有精英选择的自适应遗传算法对充电状态进行优化求解。采用蒙特卡洛随机抽样方法来模拟电动汽车无序充电状态下的负荷情况,与所提出带有多时段动态电价策略的有序充电方法对比,动态电价策略有效降低了电网峰谷差和用户充电费用,达到削峰填谷的效果。

自适应多目标遗传算法的集成剪枝用于人脸表情识别

在集成剪枝中,为了同时高效地选择优质、独立的分类器,文中提出了一种新的动态自适应交叉策略的遗传算法用于分类器的集成剪枝。该方法使用轮盘赌和贪婪策略动态更新每个交叉策略的优先级,根据优先级计算每个策略被选中的概率,从而在算法迭代过程中自适应选择不同的交叉策略。此外,该方法考虑了交叉概率和变异概率动态自适应变化,并使用大多数投票法对挑选出来的分类器进行集成以获得最终结果。将文中所提方法与一些集成剪枝方法在5个真实人脸表情数据集上进行对比,实验结果表明文中所提该方法可以选出效果更好、冗余度更低的分类器,并在CK+数据集上具有22.50%的最低误差。

一种改进的实数编码混合遗传算法

为解决简单遗传算法的不成熟收敛和收敛速度慢的问题,针对实数编码遗传算法提出了初始种群的网格分布法,单步遗传操作后的最优个体保留策略,以及改进的动态交叉和自适应变异概率等,并应用上代最优个体替换当代最差个体的种群进化方法和近亲交叉回避机制等措施对其进行了综合改进。算例表明,该改进算法能有效实现全局优化,提高进化效率,对求解复杂的优化问题具有广泛的适应性。

黑启动中考虑动态过程的负荷最优恢复

针对黑启动过程中的薄弱电网下如何最大限度地恢复负荷进行了研究。考虑到投入大量负荷后的系统过渡过程中电压、频率变化巨大,稳态潮流合格并不代表在暂态过程中的频率和电压一定合格,针对此动态阶段存在的潜在不确定性,将负荷恢复归结为包含大扰动动态过程的频率、电压、功角等约束的最优控制问题,利用自适应遗传算法对问题进行求解,在保持系统动态过程稳定的要求下,使总的负荷恢复量最大。算例求解结果表明了该算法在负荷恢复问题中的有效性。

动态Job-Shop调度问题的一种自适应遗传算法

提出了基于序列号的、独特的混合编码与级联编码相结合的遗传编码构造方法 ,给出了序列海明距离的定义和具体的计算方法 ,并引入到自适应遗传算法中。实例仿真计算的结果表明 ,提出的自适应遗传算法提高了全局求解能力 ,在解决动态Job -Shop调度问题时具有明显的优越性。

基于改进小生境遗传算法的Pareto多目标配电网重构

配电网重构是一个多目标、多约束的复杂非线性组合优化问题,若采用传统的遗传算法处理此类问题,由于其易于陷入局部最优解和随着配电网规模的扩大搜索效率低的问题,难以得到理想结果。建立了Pareto多目标重构数学模型并提出一种改进小生境遗传算法来处理配电网重构问题。算法主要有以下几种特点:设置个体之间的距离判别标准L为动态函数,保持了种群的多样性;采用最优保存策略,提高了算法的收敛速度;交叉、变异采用自适应规则,避免了算法陷入局部最优的情况。另外,Pareto多目标数学模型的引入也使算法更具实际工程意义,采用国外一个实际的配电网络对算法进行了验证。理论分析和算例表明,该算法具有高收敛性、快实时性和强全局稳定性的优点。