In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid gr...In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to decrease the topology complexity of graphs while maintaining their shapes. To minimize the communication complexity of formations, we study the theory of optimally rigid formation generation. First, four important propositions are presented to demonstrate the feasibility of using a decentralized method to generate optimally rigid graphs. Then, a formation algorithm for multi-agent systems based on these propositions is proposed. At last, some simulation examples are given to show the efficiency of the proposed algorithm.展开更多
The attitude optimal control problem （OCP） of a two-rigid-body space- craft with two rigid bodies coupled by a ball-in-socket joint is considered. Based on conservation of angular momentum of the system without the ...The attitude optimal control problem （OCP） of a two-rigid-body space- craft with two rigid bodies coupled by a ball-in-socket joint is considered. Based on conservation of angular momentum of the system without the external torque, a dynamic equation of three-dimensional attitude motion of the system is formulated. The attitude motion planning problem of the coupled-rigid-body spacecraft can be converted to a dis- crete nonlinear programming （NLP） problem using the Chebyshev-Gauss pseudospectral method （CGPM）. Solutions of the NLP problem can be obtained using the sequential quadratic programming （SQP） algorithm. Since the collocation points of the CGPM are Chebyshev-Gauss （CG） points, the integration of cost function can be approximated by the Clenshaw-Curtis quadrature, and the corresponding quadrature weights can be calculated efficiently using the fast Fourier transform （FFT）. To improve computational efficiency and numerical stability, the barycentric Lagrange interpolation is presented to substitute for the classic Lagrange interpolation in the approximation of state and con- trol variables. Furthermore, numerical float errors of the state differential matrix and barycentric weights can be alleviated using trigonometric identity especially when the number of CG points is large. A simple yet efficient method is used to avoid sensitivity to the initial values for the SQP algorithm using a layered optimization strategy from a feasible solution to an optimal solution. Effectiveness of the proposed algorithm is perfect for attitude motion planning of a two-rigid-body spacecraft coupled by a ball-in-socket joint through numerical simulation.展开更多
Traditional variation analysis methods are not applicable to non-rigid assemblies due to possible part deformation during the assembly process. This paper presents the use of finite element methods to simulate assembl...Traditional variation analysis methods are not applicable to non-rigid assemblies due to possible part deformation during the assembly process. This paper presents the use of finite element methods to simulate assembly deformation. The relationship between the parts’ variation and the variation of the key points in final assembly for quality control is set up by calculating the spring back deformation after assembly. Moreover, the optimization method for non-rigid assembly variations based on finite element analysis is presented. The optimal objective is to reduce the manufacturing cost. The approach is implemented by using ANSYS and MATLAB. The test example shows that the proposed method is effective and applicable.展开更多
Based on the hypothesis of elastic two-layered foundation system under in-finite slab with known values of thicknesses of various layers and slab modulus,a programADMODE for evaluating foundation modulus is worked out...Based on the hypothesis of elastic two-layered foundation system under in-finite slab with known values of thicknesses of various layers and slab modulus,a programADMODE for evaluating foundation modulus is worked out by putting the inverse com-putation idea for moduli of various layers of foundation into an optimization problem.The validities of the theory and program have been checked and verified by taboratorytest.Besides,the foundation modulus have also been computed with this program by usingthe data obtained from Tai-Zhou experimental road.Through regression analyses,theempirical formulas for computing the increasing multiples of the moduli of subgrade andbase course are presented.展开更多
The problems like cracking of the girder in the mid-span and the ever-increasing vertical deflection appear during the long term usage of the long-span continuous rigid-frame bridge.Post-tension tendon with reserved d...The problems like cracking of the girder in the mid-span and the ever-increasing vertical deflection appear during the long term usage of the long-span continuous rigid-frame bridge.Post-tension tendon with reserved duct can increase the pre-stress of the main beam effectively,and decrease the long term span deflection in order to improve the performance of the girder.At the same time,the proper tension position is very crucial to optimise the stress distribution of the bridge and control the deflection increase.Combining with practical engineering,the authors analyze the influence of different positions of post-tension tendon(including top-,weband bottom plate tendons)on the stress and deflection of the main beam,and find out the optimal position of post tendon.展开更多
In this paper,size and shape optimization problem of a machine gun system is addressed with an efficient hybrid method,in which a novel and flexible mesh morphing technique is employed to achieve fast parameterization...In this paper,size and shape optimization problem of a machine gun system is addressed with an efficient hybrid method,in which a novel and flexible mesh morphing technique is employed to achieve fast parameterization and modification of complexity structure without going back to CAD for reconstruction of geometric models or to finite element analysis（ FEA） for remodeling. Design of experiments（ DOE） and response surface method（ RSM） are applied to approximate the constitutive parameters of a machine gun system based on experimental tests. Further FEA,secondary development technique and genetic algorithm（ GA） are introduced to find all the optimal solutions in one go and the optimal design of the demonstrated machine gun system is obtained. Results of the rigid-flexible coupling dynamic analysis and exterior ballistics calculation validate the proposed methodology,which is relatively time-saving,reliable and has the potential to solve similar problems.展开更多
基金supported by National Natural Science Foundation of China (No. 60934003, No. 61074065)Key Project for Natural Science Research of Hebei Education Department (No. ZD200908)
文摘In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to decrease the topology complexity of graphs while maintaining their shapes. To minimize the communication complexity of formations, we study the theory of optimally rigid formation generation. First, four important propositions are presented to demonstrate the feasibility of using a decentralized method to generate optimally rigid graphs. Then, a formation algorithm for multi-agent systems based on these propositions is proposed. At last, some simulation examples are given to show the efficiency of the proposed algorithm.
基金supported by the National Natural Science Foundation of China(No.11472058)
文摘The attitude optimal control problem （OCP） of a two-rigid-body space- craft with two rigid bodies coupled by a ball-in-socket joint is considered. Based on conservation of angular momentum of the system without the external torque, a dynamic equation of three-dimensional attitude motion of the system is formulated. The attitude motion planning problem of the coupled-rigid-body spacecraft can be converted to a dis- crete nonlinear programming （NLP） problem using the Chebyshev-Gauss pseudospectral method （CGPM）. Solutions of the NLP problem can be obtained using the sequential quadratic programming （SQP） algorithm. Since the collocation points of the CGPM are Chebyshev-Gauss （CG） points, the integration of cost function can be approximated by the Clenshaw-Curtis quadrature, and the corresponding quadrature weights can be calculated efficiently using the fast Fourier transform （FFT）. To improve computational efficiency and numerical stability, the barycentric Lagrange interpolation is presented to substitute for the classic Lagrange interpolation in the approximation of state and con- trol variables. Furthermore, numerical float errors of the state differential matrix and barycentric weights can be alleviated using trigonometric identity especially when the number of CG points is large. A simple yet efficient method is used to avoid sensitivity to the initial values for the SQP algorithm using a layered optimization strategy from a feasible solution to an optimal solution. Effectiveness of the proposed algorithm is perfect for attitude motion planning of a two-rigid-body spacecraft coupled by a ball-in-socket joint through numerical simulation.
基金Supported by the Natural Science Foundation of China (No. 50205028) and the Natural Science Foundation of Chongqing City (No. 2005BB2022 ).
文摘Traditional variation analysis methods are not applicable to non-rigid assemblies due to possible part deformation during the assembly process. This paper presents the use of finite element methods to simulate assembly deformation. The relationship between the parts’ variation and the variation of the key points in final assembly for quality control is set up by calculating the spring back deformation after assembly. Moreover, the optimization method for non-rigid assembly variations based on finite element analysis is presented. The optimal objective is to reduce the manufacturing cost. The approach is implemented by using ANSYS and MATLAB. The test example shows that the proposed method is effective and applicable.
文摘Based on the hypothesis of elastic two-layered foundation system under in-finite slab with known values of thicknesses of various layers and slab modulus,a programADMODE for evaluating foundation modulus is worked out by putting the inverse com-putation idea for moduli of various layers of foundation into an optimization problem.The validities of the theory and program have been checked and verified by taboratorytest.Besides,the foundation modulus have also been computed with this program by usingthe data obtained from Tai-Zhou experimental road.Through regression analyses,theempirical formulas for computing the increasing multiples of the moduli of subgrade andbase course are presented.
文摘The problems like cracking of the girder in the mid-span and the ever-increasing vertical deflection appear during the long term usage of the long-span continuous rigid-frame bridge.Post-tension tendon with reserved duct can increase the pre-stress of the main beam effectively,and decrease the long term span deflection in order to improve the performance of the girder.At the same time,the proper tension position is very crucial to optimise the stress distribution of the bridge and control the deflection increase.Combining with practical engineering,the authors analyze the influence of different positions of post-tension tendon(including top-,weband bottom plate tendons)on the stress and deflection of the main beam,and find out the optimal position of post tendon.
基金Supported by the National Natural Science Foundation of China(51376090,51676099)
文摘In this paper,size and shape optimization problem of a machine gun system is addressed with an efficient hybrid method,in which a novel and flexible mesh morphing technique is employed to achieve fast parameterization and modification of complexity structure without going back to CAD for reconstruction of geometric models or to finite element analysis（ FEA） for remodeling. Design of experiments（ DOE） and response surface method（ RSM） are applied to approximate the constitutive parameters of a machine gun system based on experimental tests. Further FEA,secondary development technique and genetic algorithm（ GA） are introduced to find all the optimal solutions in one go and the optimal design of the demonstrated machine gun system is obtained. Results of the rigid-flexible coupling dynamic analysis and exterior ballistics calculation validate the proposed methodology,which is relatively time-saving,reliable and has the potential to solve similar problems.
