How to automatically generate three-dimensional finite element Delaunay mesh by a peifected node connection method is introduced, where nodes are generated based on existing elements, instead of independence of node c...How to automatically generate three-dimensional finite element Delaunay mesh by a peifected node connection method is introduced, where nodes are generated based on existing elements, instead of independence of node creation and elements generation in traditional node connection method. Therefore, Ihe the difficulty about how to automatically create nodes in the traditional method is overcome.展开更多
This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration spa...This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration space surrounding existing nodes in the roadmap and uses a combination of random and deterministic search methods that emulate the behaviour of octopus limbs. The strategy consists of randomly mutating the states of the links near the end-effector, and mutating the states of the links near the base of the robot toward the states of the goal configuration. When combined with the small tree probabilistic roadmap planner, the method was successfully used to solve the narrow passage motion planning problem of a 17 degree-of-freedom manipulator.展开更多
To solve the problem of low efficiency in pipe routing design, an improved genetic algorithm based approach is proposed. To present this approach, the paper mainly describes a generation method of nodes considering th...To solve the problem of low efficiency in pipe routing design, an improved genetic algorithm based approach is proposed. To present this approach, the paper mainly describes a generation method of nodes considering the safety distance of pipes and the directional constraints at terminals, the definition of a double coding technique, the collision detection method, the concept of energy and the definition of fitness functions. The similarity detection is introduced to prevent close breeding in the crossover operator, the selection pressure is controlled according to the evolution situation and a heuristic mutation method is used to boost the evolution. Simulation case shows that this approach is more practical and can satisfy different design requirements by changing algorithm parameters.展开更多
基金This project is supported by Provincial Natural Science foundation of Guangdong!(970516)
文摘How to automatically generate three-dimensional finite element Delaunay mesh by a peifected node connection method is introduced, where nodes are generated based on existing elements, instead of independence of node creation and elements generation in traditional node connection method. Therefore, Ihe the difficulty about how to automatically create nodes in the traditional method is overcome.
文摘This article describes a biologically inspired node generator for the path planning of serially connected hyper-redundant manipulators using probabilistic roadmap planners. The generator searches the configuration space surrounding existing nodes in the roadmap and uses a combination of random and deterministic search methods that emulate the behaviour of octopus limbs. The strategy consists of randomly mutating the states of the links near the end-effector, and mutating the states of the links near the base of the robot toward the states of the goal configuration. When combined with the small tree probabilistic roadmap planner, the method was successfully used to solve the narrow passage motion planning problem of a 17 degree-of-freedom manipulator.
基金Supported by National "863" Project of China (2006AA09A104)
文摘To solve the problem of low efficiency in pipe routing design, an improved genetic algorithm based approach is proposed. To present this approach, the paper mainly describes a generation method of nodes considering the safety distance of pipes and the directional constraints at terminals, the definition of a double coding technique, the collision detection method, the concept of energy and the definition of fitness functions. The similarity detection is introduced to prevent close breeding in the crossover operator, the selection pressure is controlled according to the evolution situation and a heuristic mutation method is used to boost the evolution. Simulation case shows that this approach is more practical and can satisfy different design requirements by changing algorithm parameters.
