In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacle...In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.展开更多
Aiming at the complex and restrictive characteristics of human resource allocation in multiple scientific university research projects, an improved pigeon-inspired optimization(IPIO) algorithm is proposed wherein loss...Aiming at the complex and restrictive characteristics of human resource allocation in multiple scientific university research projects, an improved pigeon-inspired optimization(IPIO) algorithm is proposed wherein loss minimization and the shortest project delay time are considered as optimization goals. Firstly, mathematical modelling of the problem is carried out, and the multi-objective optimization problem is transformed into a single-objective optimization problem by means of a weighted solution. In the second step, the traditional pigeon-inspired optimization(PIO) algorithm is discretized, and an adaptive parameter strategy is adopted to improve the shortcomings of the algorithm itself. Finally, by comparing the simulation results with the original algorithm and the genetic algorithm in the optimization of human resource allocation in multiple projects, the feasibility and superiority of the proposed algorithm in the optimization of human resource allocation in multi-scientific research projects is verified.展开更多
In this work, two chemometrics methods are applied for the modeling and prediction of electrophoretic mobilities of some organic and inorganic compounds. The successive projection algorithm, feature selection （SPA） ...In this work, two chemometrics methods are applied for the modeling and prediction of electrophoretic mobilities of some organic and inorganic compounds. The successive projection algorithm, feature selection （SPA） strategy, is used as the descriptor selection and model development method. Then, the support vector machine （SVM） and multiple linear regression （MLR） model are utilized to construct the non-linear and linear quantitative structure-property relationship models. The results obtained using the SVM model are compared with those obtained using MLR reveal that the SVM model is of much better predictive value than the MLR one. The root-mean-square errors for the training set and the test set for the SVM model were 0.1911 and 0.2569, respectively, while by the MLR model, they were 0.4908 and 0.6494, respectively. The results show that the SVM model drastically enhances the ability of prediction in QSPR studies and is superior to the MLR model.展开更多
基金Supported by Ministeral Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.
基金supported by the Fundamental Research Funds for the Central Scientific Research Institutes (Grant No. 20200306)。
文摘Aiming at the complex and restrictive characteristics of human resource allocation in multiple scientific university research projects, an improved pigeon-inspired optimization(IPIO) algorithm is proposed wherein loss minimization and the shortest project delay time are considered as optimization goals. Firstly, mathematical modelling of the problem is carried out, and the multi-objective optimization problem is transformed into a single-objective optimization problem by means of a weighted solution. In the second step, the traditional pigeon-inspired optimization(PIO) algorithm is discretized, and an adaptive parameter strategy is adopted to improve the shortcomings of the algorithm itself. Finally, by comparing the simulation results with the original algorithm and the genetic algorithm in the optimization of human resource allocation in multiple projects, the feasibility and superiority of the proposed algorithm in the optimization of human resource allocation in multi-scientific research projects is verified.
文摘In this work, two chemometrics methods are applied for the modeling and prediction of electrophoretic mobilities of some organic and inorganic compounds. The successive projection algorithm, feature selection （SPA） strategy, is used as the descriptor selection and model development method. Then, the support vector machine （SVM） and multiple linear regression （MLR） model are utilized to construct the non-linear and linear quantitative structure-property relationship models. The results obtained using the SVM model are compared with those obtained using MLR reveal that the SVM model is of much better predictive value than the MLR one. The root-mean-square errors for the training set and the test set for the SVM model were 0.1911 and 0.2569, respectively, while by the MLR model, they were 0.4908 and 0.6494, respectively. The results show that the SVM model drastically enhances the ability of prediction in QSPR studies and is superior to the MLR model.
