Optimal search path planning of UUV in battlefeld ambush scene

Aiming at the practical application of Unmanned Underwater Vehicle(UUV)in underwater combat,this paper proposes a battlefield ambush scene with UUV considering ocean current.Firstly,by establishing these mathematical models of ocean current environment,target movement,and sonar detection,the probability calculation methods of single UUV searching target and multiple UUV cooperatively searching target are given respectively.Then,based on the Hybrid Quantum-behaved Particle Swarm Optimization(HQPSO)algorithm,the path with the highest target search probability is found.Finally,through simulation calculations,the influence of different UUV parameters and target parameters on the target search probability is analyzed,and the minimum number of UUVs that need to be deployed to complete the ambush task is demonstrated,and the optimal search path scheme is obtained.The method proposed in this paper provides a theoretical basis for the practical application of UUV in the future combat.

Study on site selection planning of urban electric vehicle charging station

The large-scale development of electric vehicles(EVs)requires numerous charging stations to serve them,and the charging stations should be reasonably laid out and planned according to the charging demand of electric vehicles.Considering the costs of both operators and users,a site selection model for optimal layout planning of charging stations is constructed,and a queuing theory approach is used to determine the charging pile configuration to meet the charging demand in the planning area.To solve the difficulties of particle swarm global optimization search,the improved random drift particle swarm optimization(IRDPSO)and Voronoi diagram are used to jointly solve for the optimal layout of electric vehicles.The final arithmetic analysis verifies the feasibility and practicality of the model and algorithm,and the results show that the total social cost is minimized when the charging station is 9,the location of the charging station is close to the center of gravity and the layout is reasonable.

Effect of water and fertilizer coupling optimization test on water use efficiency of rice in black soil regions

How to improve the water use efficiency of rice in black soil regions was studied. The black soil region in paddy fields was chosen as the research object. The research showed the fertilizer coupling mathematical model with N,P,K,irrigation water( W) and water use efficiency( WUE),which was set up under the condition of controlled irrigation with quadratic D- 416 optimized saturation design. The results show that the decending order of single factor' s influence on the WUE was N,K,P and W. All the interactions between N&P,N&K,N&W,K&P,P&W and K&W on the WUE were raised initially,and when reached a certain value,they began to decline. The decending order of each interaction on the WUE was K&P,K&W,N&K,N&P,P&W and N&W. When the WUE was targeted within 1. 8- 2. 5 kg / km^3,an optimized proportion plan was obtained in the 95% confidence interval,i. e. N 87. 76- 103. 32 kg / hm^2,K_2 O 52. 37- 66. 53 kg / hm^2 and P_2O_536. 80- 46. 71 kg / hm^2. Furthermore,the late tillering of the soil moisture content was 70. 07%- 72. 57% of the saturated moisture content.

Generative Adversarial Network Based Heuristics for Sampling-Based Path Planning

Sampling-based path planning is a popular methodology for robot path planning.With a uniform sampling strategy to explore the state space,a feasible path can be found without the complex geometric modeling of the configuration space.However,the quality of the initial solution is not guaranteed,and the convergence speed to the optimal solution is slow.In this paper,we present a novel image-based path planning algorithm to overcome these limitations.Specifically,a generative adversarial network(GAN)is designed to take the environment map(denoted as RGB image)as the input without other preprocessing works.The output is also an RGB image where the promising region(where a feasible path probably exists)is segmented.This promising region is utilized as a heuristic to achieve non-uniform sampling for the path planner.We conduct a number of simulation experiments to validate the effectiveness of the proposed method,and the results demonstrate that our method performs much better in terms of the quality of the initial solution and the convergence speed to the optimal solution.Furthermore,apart from the environments similar to the training set,our method also works well on the environments which are very different from the training set.

Application of Optimal-Jerk Trajectory Planning in Gait-balance Training Robot

To accommodate the gait and balance disorder of the elderly with age progression and the occurrence of various senile diseases,this paper proposes a novel gait balance training robot(G-Balance)based on a six degree-of-freedom parallel platform.Using the platform movement and IMU wearable sensors,two training modes,i.e.,active and passive,are developed to achieve vestibular stimulation.Virtual reality technology is applied to achieve visual stimulation.In the active training mode,the elderly actively exercises to control the posture change of the platform and the switching of the virtual scene.In the passive training mode,the platform movement is combined with the virtual scene to simulate bumpy environments,such as earthquakes,to enhance the human anti-interference ability.To achieve a smooth switching of the scene,continuous speed and acceleration of the platform motion are required in some scenarios,in which a trajectory planning algorithm is applied.This paper describes the application of the trajectory planning algorithm in the balance training mode and the optimization of jerk(differential of acceleration)based on cubic spline planning,which can reduce impact on the joint and enhance stability.

Data-driven optimization for fine water injection in a mature oil field

Based on the traditional numerical simulation and optimization algorithms,in combination with the layered injection and production"hard data"monitored at real time by automatic control technology,a systematic approach for detailed water injection design using data-driven algorithms is proposed.First the data assimilation technology is used to match geological model parameters under the constraint of observed well dynamics;the flow relationships between injectors and producers in the block are calculated based on automatic identification method for layered injection-production flow relationship;multi-layer and multi-direction production splitting technique is used to calculate the liquid and oil production of producers in different layers and directions and obtain quantified indexes of water injection effect.Then,machine learning algorithms are applied to evaluate the effectiveness of water injection in different layers of wells and to perform the water injection direction adjustment.Finally,the particle swarm algorithm is used to optimize the detailed water injection plan and to make production predictions.This method and procedure make full use of the automation and intelligence of data-driven and machine learning algorithms.This method was used to match the data of a complex faulted reservoir in eastern China,achieving a fitting level of 85%.The cumulative oil production in the example block for 12 months after optimization is 8.2%higher than before.This method can help design detailed water injection program for mature oilfields.

Optimal Planning of Hybrid AC/DC Low-voltage Distribution Networks Considering DC Conversion of Three-phase Four-wire Low-voltage AC Systems

The increasing integration of distributed household photovoltaics(PVs)and electric vehicles(EVs)may further ag gravate voltage violations and unbalance of low-voltage distribu tion networks(LVDNs).DC distribution networks can increase the accommodation of PVs and EVs and mitigate mutilple pow er quality problems by the flexible power regulation capability of voltage source converters.This paper proposes schemes to es tablish hybrid AC/DC LVDNs considering the conversion of the existing three-phase four-wire low-voltage AC systems to DC op eration.The characteristics and DC conversion constraints of typical LVDNs are analyzed.In addition,converter configura tions for typical LVDNs are proposed based on the three-phase four-wire characteristics and quantitative analysis of various DC configurations.Moreover,an optimal planning method of hybrid AC/DC LVDNs is proposed,which is modeled as a bi-level programming model considering the annual investments and three-phase unbalance.Simulations are conducted to verify the effectiveness of the proposed optimal planning method.Sim ulation results show that the proposed optimal planning method can increase the integration of PVs while simultaneously reduc ing issues related to voltage violation and unbalance.

Development modes analysis of renewable energy power generation in North Africa

North African countries generally have strategic demands for energy transformation and sustainable development.Renewable energy development is important to achieve this goal.Considering three typical types of renewable energies—wind,photovoltaic(PV),and concentrating solar power(CSP)—an optimal planning model is established to minimize construction costs and power curtailment losses.The levelized cost of electricity is used as an index for assessing economic feasibility.In this study,wind and PV,wind/PV/CSP,and transnational interconnection modes are designed for Morocco,Egypt,and Tunisia.The installed capacities of renewable energy power generation are planned through the time sequence production simulation method for each country.The results show that renewable energy combined with power generation,including the CSP mode,can improve reliability of the power supply and reduce the power curtailment rate.The transnational interconnection mode can help realize mutual benefits of renewable energy power,while the apportionment of electricity prices and trading mechanisms are very important and are related to economic feasibility;thus,this mode is important for the future development of renewable energy in North Africa.

Novel Accelerating Life Test Method and Its Application by Combining Constan Stress and Progressive Stress

Constant stress accelerated life tests(ALTs) can be applied to obtain a high estimation accuracy of reliability measure?ments, but these are time?consuming tests. Progressive stress ALTs can yield failures more quickly but cannot guaran tee the estimation accuracy of reliability measurements. In this paper, a progressive?constant combination stress ALT is proposed to combine the merits of both tests. The optimal plan, in which the design variables are the initial pro?gressive stress level, the progressive stress ramp rate, the sample allocation proportion of the progressive stress and the constant stress level, is determined using the principle of minimizing the asymptotic variance of the maximum likelihood estimator of the natural log reliable life for the connectors. A comparison between the optimal PCCSALT plan and the CSALT plan with the same sample size and estimation accuracy shows that the test time is reduced by 13.59% by applying the PCCSALT.

Metabolic flux simulation of microbial systems based on optimal planning algorithms

The genomic scale metabolic networks of the microorganisms can be constructed based on their genome se-quences,functional annotations,and biochemical reactions,reflecting almost all of the metabolic functions.Mathematical simulations of metabolic fluxes could make these functions be visualized,thereby providing guidance for rational engineering design and experimental operations.This review summarized recently devel-oped flux simulation algorithms of microbial systems.For the single microbial systems,the optimal planning algorithm has low complexity because there is no interaction between microorganisms,and it can quickly simulate the stable metabolic states through the pseudo-steady hypothesis.Besides,the experimental conditions of single microbial systems are easier to reach or close to the optimal states of simulation,compared with pol-ymicrobial systems.The polymicrobial culture systems could outcompete the single microbial systems as they could relieve metabolic pressure through metabolic division,resource exchange,and complex substrate co-utilization.Besides,they provide varieties of intracellular production environments,which render them the po-tential to achieve efficient bioproduct synthesis.However,due to the quasi-steady hypothesis that restricts the simulation of the dynamic processes of microbial interactions and the algorithm complexity,there are few re-searches on simulation algorithms of polymicrobial metabolic fluxes.Therefore,this review also analyzed and combed the microbial interactions based on the commonly used hypothesis of maximizing growth rates,and studied the strategies of coupling interactions with optimal planning simulations for metabolism.Finally,this review provided new insights into the genomic scale metabolic flux simulations of polymicrobial systems.

Optimal Configuration Planning of Multi-energy Microgrid Based on Source-load-temperature Scenarios Deep Joint Generation

An optimal configuration method of a multi-energy microgrid system based on the deep joint generation of sourceload-temperature scenarios is proposed to improve the multienergy complementation and the reliability of energy supply in extreme scenarios.First,based on the historical meteorological data,the typical meteorological clusters and extreme temperature types are obtained.Then,to reflect the uncertainty of energy consumption and renewable energy output in different weather types,a deep joint generation model using a radiation-electric load-temperature scenario based on a denoising variational autoencoder is established for each weather module.At the same time,to cover the potential high energy consumption scenarios with extreme temperatures,the extreme scenarios with fewer data samples are expanded.Then,the scenarios are reduced by clustering analysis.The normal days of different typical scenarios and extreme temperature scenarios are determined,and the cooling and heating loads are determined by temperature.Finally,the optimal configuration of a multi-energy microgrid system is carried out.Experiments show that the optimal configuration based on the extreme scenarios and typical scenarios can improve the power supply reliability of the system.The proposed method can accurately capture the complementary potential of energy sources.And the economy of the system configuration is improved by 14.56%.

Bi-level Planning for Integrated Energy Systems Incorporating Demand Response and Energy Storage Under Uncertain Environments Using Novel Metamodel

The optimal planning and design of an integrated energy system(IES)is of great significance to facilitate distributed renewable energy(DRE)technology and improve the overall energy efficiency of the energy system.With the increased penetration of distributed generation(DG),the power supply and load sides of an IES present more increased levels of uncertainties.Demand response(DR)and the energy storage system(ESS)serve as important means to shift energy supply and use across time to counter the indeterminate variations.However,the current IES planning methods are unable to effectively deal with the uncertainties of DREs and loads,and to optimize the operations of DG-DR-ESS due to the enormous possible combinations.In this paper,a new method for the optimal planning and design of an integrated energy system has been introduced and verified.The new method consists of three integrated elements.First,the method of the probability scenario has been used to model the uncertainties of the DREs and loads so as to better characterize the impact of uncertainty on the planning and design of the IES.Secondly,the optimal operation of the IES under different probability scenarios is ensured using the second-order cone optimization for quick solutions due to the simplicity of this sub-problem,serving as the bottom-level optimization.Thirdly,the optimal planning and design of IES through optimal sizing of the power generating components and ESS are performed using a special meta-model based global optimization method due to the complex,black-box,and computation intensive nature of this top-level optimization in a nested,bi-level global optimization problem.The combined approach takes full account of the interrelated operations of DG-DR-ESS under different design configurations to support a better optimal planning and design of the IES.The simulation has been carried out on an IES system modified from the IEEE 33-node distribution system.The simulation results show that the proposed method and model are effective.

Impact of EV load uncertainty on optimal planning for electric vehicle charging station

With the development of electric vehicles(EV), there is a huge demand for electric vehicle charging stations(EVCS). The utilization of renewable energy sources(RES) in EVCS can not only decrease the energy fluctuation by participating in peakload reduction of the grid, but also reduce the pollution to the environment by cutting down the use of fossil fuels. In this paper,the optimal planning for grid-connected EVCS with RES is studied by considering EV load uncertainty. Nine scenarios are set based on a different characteristic of EV load to reveal the impact of EV load on net present cost(NPC) and to express the relationship between the optimal capacity and energy flow. Moreover, since electricity price also plays an important role in EVCS planning, an economic comparison between different cases with different electricity prices for peak-valley-flat period is carried out. The results reveal the economic benefits of applying RES in EVCS, and demonstrate that EV load with different characteristics would influence the capacity of each device(PV, battery, converter) in the EVCS optimal planning.

Energy-efficient receding horizon trajectory planning of high-speed trains using real-time traffic information

Optimal trajectory planning of high-speed trains(HSTs)aims to obtain such speed curves that guarantee safety,punctuality,comfort and energy-saving of the train.In this paper,a new shrinking horizon model predictive control(MPC)algorithm is proposed to plan the optimal trajectories of HSTs using real-time traffic information.The nonlinear longitudinal dynamics of HSTs are used to predict the future behaviors of the train and describe variable slopes and variable speed limitations based on real-time traffic information.Then optimal trajectory planning of HSTs is formulated as the shrinking horizon optimal control problem with the consideration of safety,punctuality,comfort and energy consumption.According to the real-time position and running time of the train,the shrinking horizon is updated to ensure the recursive feasibility of the optimization problem.The optimal speed curve of the train is computed by online solving the optimization problem with the Radau Pseudo-spectral method(RPM).Simulation results demonstrate that the proposed method can satisfy the requirements of energy efficiency and punctuality of the train.

Step-stress accelerated degradation test planning based on Wiener processwith correlation

To assess the lifetime distribution of highly reliable or expensive product,one of the most commonly used strategies is to construct step-stress accelerated degradation test(SSADT)which can curtail the test duration and reduce the test cost.In reality,it is not unusual for a unit with a higher degradation rate which exhibits a more volatile degradation path.Recently,Ye,Chen,and Shen[(2015).A new class of Wiener process models for degradation analysis.Reliability Engineering and System Safety,139,58–67]proposed a Wiener process to capture the positive correlation between the drift rate and the volatility.In this paper,an optimal SSADT plan is developed under the assumption that the underlying degradation path follows the Wiener process with correlation.Firstly,the stochastic diffusion process is introduced to model a typical SSADT problem.Then the design variables,including the sample size,the measurement frequency and the numbers of measurements under each stress level,are optimised by minimising the asymptotic variance of the estimated p-percentile of the product’s lifetime distribution subject to the total experimental cost not exceeding a pre-specified budget.Finally,a numerical example is presented to illustrate the proposed method.

Three-Layer Multi-UAVs Path Planning Based on ROBL-MFO

This paper proposes a new three-layer path planning method,where we fused two existing path planning methods(global path and local path)into a single problem for multi-unmanned aerial vehicles(UAVs)path planning for UAV.The global-path network layer contains the latest information and algorithms for global planning according to specific applications.The trajectory planning layer represents the kinematics and different motion characteristics,the planningexecution layer implements the local planning algorithm for obstacle avoidance.In the last layer,we propose a new swarm intelligence algorithm called the refraction principle and opposite-based-learning moth flame optimization(ROBL-MFO).In contrast to the classical MFO,the proposed algorithm addresses the shortcoming of the classical MFO algorithm.First,it adapts the moth position update formula to the notion of historical optimal flame average and improves the convergence speed of the algorithm.Second,it utilizes a random inverse learning strategy to narrow down the search space.Finally,the principle of refraction gives the algorithm the ability to jump out of local optima and helps the algorithm avoid premature convergence.The experimental results show that the performance of the proposed algorithm is versatile,robust,and stable.