Ground threat prediction-based path planning of unmanned autonomous helicopter using hybrid enhanced artificial bee colony algorithm

Unmanned autonomous helicopter(UAH)path planning problem is an important component of the UAH mission planning system.Aiming to reduce the influence of non-complete ground threat information on UAH path planning,a ground threat prediction-based path planning method is proposed based on artificial bee colony(ABC)algorithm by collaborative thinking strategy.Firstly,a dynamic threat distribution probability model is developed based on the characteristics of typical ground threats.The dynamic no-fly zone of the UAH is simulated and established by calculating the distribution probability of ground threats in real time.Then,a dynamic path planning method for UAH is designed in complex environment based on the real-time prediction of ground threats.By adding the collision warning mechanism to the path planning model,the flight path could be dynamically adjusted according to changing no-fly zones.Furthermore,a hybrid enhanced ABC algorithm is proposed based on collaborative thinking strategy.The proposed algorithm applies the leader-member thinking mechanism to guide the direction of population evolution,and reduces the negative impact of local optimal solutions caused by collaborative learning update strategy,which makes the optimization performance of ABC algorithm more controllable and efficient.Finally,simulation results verify the feasibility and effectiveness of the proposed ground threat prediction path planning method.

Distributed blackboard decision-making framework for collaborative planning based on nested genetic algorithm

A distributed blackboard decision-making framework for collaborative planning based on nested genetic algorithm （NGA） is proposed. By using blackboard-based communication paradigm and shared data structure, multiple decision-makers （DMs） can collaboratively solve the tasks-platforms allocation scheduling problems dynamically through the coordinator. This methodo- logy combined with NGA maximizes tasks execution accuracy, also minimizes the weighted total workload of the DM which is measured in terms of intra-DM and inter-DM coordination. The intra-DM employs an optimization-based scheduling algorithm to match the tasks-platforms assignment request with its own platforms. The inter-DM coordinates the exchange of collaborative request information and platforms among DMs using the blackboard architecture. The numerical result shows that the proposed black- board DM framework based on NGA can obtain a near-optimal solution for the tasks-platforms collaborative planning problem. The assignment of platforms-tasks and the patterns of coordination can achieve a nice trade-off between intra-DM and inter-DM coordination workload.

Multi-Agent System for Real Time Planning Using Collaborative Agents

Autonomous agents are an important area of research in the sense that they are proactive, and include: goal-directed and communication capabilities. Furthermore each goals of the agent are constantly changing in a dynamic environment. Part of the challenge is to automate the process corresponding to each agent in order that they find their own objectives. Agents do not have to work individually, but can work with others and develop a coordinated group of actions. These agents are highly appreciated, when real time problems are involved, meaning that an agent must be able to react within a specific time interval, considering external events. Our work focuses on the design of a multi-agent architecture consisting of autonomous agents capable of acting through a goal-directed with: a) constraints, b) real-time, and c) with incomplete knowledge of the environment. This paper shows a model of collaborative agents architecture that share a common knowledge source, allowing knowledge of the environment;where we analyze it and its changes, choosing the most promising way for achieving the goals of the agent, in order to keep the whole system working, even if a fault occurs.

Study on Multi-enterprise Collaborative Resource Planning Based Process-oriented Decision Model

Aiming to share the information,knowledge and optimizing resource via collaborating with multiple external partners across their supply chains,the concept model and system framework of multi-enterprises collaborative resource planning (MECORP) are put forward.While there is Considerable pressure to improve the operation of MECORP system,their inherent complexity can make modelling a MECORP system a difficult task.Yet there could be considerable benefits in designing MECORP taking into account the operation of the system.In order to address the central research issue of developing of a methodology that can assist a manager in making decisions by modelling the operation of MECORP system.The methodology called process-oriented deci- sion model (PODM) is presented in the paper.This uses an abstracted network to model MECORP system.The MECORP system supported by PODM,can effective optimize the manifold resource,coordinate the relationship of multiple partners and assist deci- sion.Finally,an industry excample of MECORP system is described to illustrate the application of PODM.

Receding-Horizon Trajectory Planning for Under-Actuated Autonomous Vehicles Based on Collaborative Neurodynamic Optimization

This paper addresses a major issue in planning the trajectories of under-actuated autonomous vehicles based on neurodynamic optimization.A receding-horizon vehicle trajectory planning task is formulated as a sequential global optimization problem with weighted quadratic navigation functions and obstacle avoidance constraints based on given vehicle goal configurations.The feasibility of the formulated optimization problem is guaranteed under derived conditions.The optimization problem is sequentially solved via collaborative neurodynamic optimization in a neurodynamics-driven trajectory planning method/procedure.Simulation results with under-actuated unmanned wheeled vehicles and autonomous surface vehicles are elaborated to substantiate the efficacy of the neurodynamics-driven trajectory planning method.

Trajectory Planning of High Precision Collaborative Robots

In order to satisfy the high efficiency and high precision of collaborative robots,this work presents a novel trajectory planning method.First,in Cartesian space,a novel velocity look-ahead control algorithm and a cubic polynomial are combined to construct the end-effector trajectory of robots.Then,the joint trajectories can be obtained through the inverse kinematics.In order to improve the smoothness and stability in joint space,the joint trajectories are further adjusted based on the velocity look-ahead control algorithm and quintic B-spline.Finally,the proposed trajectory planning method is tested on a 4-DOF serial collaborative robot.The experimental results indicate that the collaborative robot achieves the high efficiency and high precision,which validates the effectiveness of the proposed method.

Multi-User Collaborative Assembly Planning over the Internet

Due to the increasing complexity of products and for the distributed product development, more closely collaborative work among designers is required. A collaborative assembly planning approach is proposed to support assembly planning in a networked environment. The working procedure is depicted and the key techniques including collaborative-planning-oriented assembly decomposition modeling, assembly assignment modeling, and sub-plans merging are addressed. By incorporating visual models at client side with assembly application models at server side, a web-based supporting environment for collaborative assembly planning has been developed using VRML and Java-EAI techniques. A case study is given to illustrate the feasibility and validity of the idea.

Strategies for the Application of BIM Technology in the Collaborative Planning and Design of Urban Roads and Pipelines

Urban road construction and the laying of underground pipelines are both important elements in the improvement of urban infrastructure,while the construction of the two may affect and restrict each other if they are not planned systematically.Therefore,a synergistic design of urban roads and pipelines is needed to ensure the synergy of urban road construction and underground pipeline laying.This paper mainly analyzes the necessity of building information modeling(BIM)technology application in the collaborative planning and design of urban roads and pipelines,and explores the application strategy of BIM technology.

Collaborative production planning between supply chain partners by Lagrangian relaxation

A collaborative planning framework based on the Lagrangian Relaxation was developed to coordinate and optimize the production planning of independent partners in multiple tier supply chains. Linking constraints and dependent demand constraints were added to the monolithic Multi-Level, multi-item Capacitated Lot Sizing Problem (MLCLSP). MLCLSP was Lagrangian relaxed and decomposed into facility-separable subproblems. Surrogate gradient algorithm was used to update Lagrangian multipliers, which coordinate decentralized decisions of the facilities. Production planning of independent partners could be appropriately coordinated and optimized by this framework without intruding their decisionities and private information. Experimental results show that the proposed coordination mechanism and procedure come close to optimal results as obtained by central coordination.

Mathematical Modeling and a Multiswarm Collaborative Optimization Algorithm for Fuzzy Integrated Process Planning and Scheduling Problem

Considering both process planning and shop scheduling in manufacturing can fully utilize their complementarities,resulting in improved rationality of process routes and high-quality and efficient production. Hence,the study of Integrated Process Planning and Scheduling (IPPS) has become a hot topic in the current production field. However,when performing this integrated optimization,the uncertainty of processing time is a realistic key point that cannot be neglected. Thus,this paper investigates a Fuzzy IPPS (FIPPS) problem to minimize the maximum fuzzy completion time. Compared with the conventional IPPS problem,FIPPS considers the fuzzy process time in the uncertain production environment,which is more practical and realistic. However,it is difficult to solve the FIPPS problem due to the complicated fuzzy calculating rules. To solve this problem,this paper formulates a novel fuzzy mathematical model based on the process network graph and proposes a MultiSwarm Collaborative Optimization Algorithm (MSCOA) with an integrated encoding method to improve the optimization. Different swarms evolve in various directions and collaborate in a certain number of iterations. Moreover,the critical path searching method is introduced according to the triangular fuzzy number,allowing for the calculation of rules to enhance the local searching ability of MSCOA. The numerical experiments extended from the well-known Kim benchmark are conducted to test the performance of the proposed MSCOA. Compared with other competitive algorithms,the results obtained by MSCOA show significant advantages,thus proving its effectiveness in solving the FIPPS problem.

A Lesson Plan Incorporating Collaborative Strategic Reading

This essay is going to have an in-depth analysis of the Collaborative Strategic Reading, a four-step reading comprehension strategy popular in the Western classrooms. It will start with some brief introduction about this instructional approach in company with its theoretical rationale and research evidence for its effectiveness of improving learners' reading competence. Focused on the previewing skill, the first step of the reading instruction, a modified lesson plan is designed in the Chinese high school setting, followed by justification of the major elements of the plan, and some practical implications.

Neural Dynamics for Distributed Collaborative Control of Manipulators With Time Delays

Time-delay phenomena extensively exist in practical systems,e.g.,multi-agent systems,bringing negative impacts on their stabilities.This work analyzes a collaborative control problem of redundant manipulators with time delays and proposes a time-delayed and distributed neural dynamics scheme.Under assumptions that the network topology is fixed and connected and the existing maximal time delay is no more than a threshold value,it is proved that all manipulators in the distributed network are able to reach a desired motion.The proposed distributed scheme with time delays considered is converted into a time-variant optimization problem,and a neural dynamics solver is designed to solve it online.Then,the proposed neural dynamics solver is proved to be stable,convergent and robust.Additionally,the allowable threshold value of time delay that ensures the proposed scheme’s stability is calculated.Illustrative examples and comparisons are provided to intuitively prove the validity of the proposed neural dynamics scheme and solver.

协同治理视角下国土空间规划实践与思考——以江苏为例

国土空间规划是完善现代化治理手段、提升空间治理能力、推动区域协同发展的重要工具。在总结跨地区、全流程、多主体的协同治理框架下,基于江苏省市县国土空间总体规划多层次同步编制的实践,探讨国土空间总体规划推动区域协同治理的有效路径。跨区域协同治理通过城市定位协同、生态环境治理协同、交通协同、市政基础设施协同、文化协同等手段,实现不同空间协同治理目标的落实;全流程协同治理通过建立常态化沟通磋商机制,实现省市县的纵向传导反馈和多部门、多条线的横向寻求共识,化解跨界地区矛盾;多主体协同治理侧重制度建构,保障行政力、市场力和社会力的多元参与。

智能采煤机器人关键技术

采煤机是综采工作面的核心装备,研发智能采煤机器人是实现综采工作面智能化的关键。综合分析当前采煤机机器人化研究进程中的传感检测、位姿控制、速度控制、截割轨迹规划与跟踪控制等技术的研究现状,提出研发智能采煤机器人必须破解的“智能感知、位姿控制、速度控制、截割轨迹规划与跟踪控制、位-姿-速协同控制”五大关键技术,并给出解决方案。针对智能感知问题,提出了构建智能感知系统思路,给出了智能采煤机器人智能感知系统的架构,实现对运行状态、位姿、环境等全面感知,为智能采煤机器人安全、可靠运行提供保障;针对位姿控制问题,提出了智能PID位姿控制思路,给出了改进遗传算法的PID位姿控制方法,实现了智能采煤机器人位姿精准控制;针对速度控制问题,提出了融合“力-电”异构数据的截割载荷测量思路,给出了基于神经网络算法的截割载荷测量方法,实现了截割载荷的精准测量;提出牵引与截割速度自适应控制思路,给出了人工智能算法牵引与截割速度决策方法和滑模自抗扰控制的牵引与截割速度控制方法,实现了智能采煤机器人速度精准自适应控制;针对截割轨迹规划与跟踪控制问题,提出了截割轨迹精准规划思路,给出了融合地质数据和历史截割数据的截割轨迹规划模型,实现了截割轨迹的精准规划;提出了截割轨迹精准跟踪控制思路,给出了智能插补算法的截割轨迹跟踪控制方法,实现了智能采煤机器人截割轨迹高精度规划与精准跟踪控制;针对“位-姿-速”协同控制问题,提出了“位-姿-速”协同控制参数智能优化思路,给出了基于多系统互约束的改进粒子群“位-姿-速”协同控制参数优化方法,实现了智能采煤机器人智能高效作业。深入研究五大关键技术破解思路,有利于加快推动研发高性能、高效率、高可靠的智能采煤机器人。

新时代车辆工程专业人才培养方案研究

为满足新时代汽车行业新技术新业态对汽车专业人才的需求,应以“卓越工程师计划”的实践为基础,将新时代课程思政教育元素融入教育全过程,建立健全以现代产业学院或双创学院为平台的政校企三方协同的育人机制,培养未来新兴产业和新经济需要的实践能力强、创新能力强、具备国际竞争力的高素质新工科复合应用型车辆工程专业人才。

考虑火电有序退役的源-网-储协同多阶段规划方法

“双碳”目标下,我国电力系统亟需深度脱碳转型,传统以煤电为主的电力能源结构将发生根本性转变。研究火电机组的有序退出,实现安全、经济的低碳化转型是新型电力系统建设的重要课题。为此,该文提出一种考虑火电有序退役的源-网-储协同多阶段规划方法,在保证绿色、安全新型电力系统建设的基础上,提升电力系统低碳化转型经济效益。首先,建立可考虑火电机组退役的源-网-储协同多阶段规划模型。然后,设计模型线性化及求解加速方法提高模型运行效率。最后,以HRP-38测试系统为典型算例,提出在碳排放限额约束及新能源占比逐渐提高共同影响下的火电发展及退役路径,并从惯量需求等角度评估含火电机组有序退役的多阶段规划模型的有效性。

4+2自由度叶片抛磨专用机器人轨迹规划方法研究

砂带抛磨作为复杂曲面叶片精密加工的最后一道工序,其加工质量直接影响叶片的服役性能和寿命。传统6自由度机器人多关节串联具有明显的弱刚性,在末端夹持大型叶片时抗变形能力欠佳。为此,文章自主设计研发了4+2自由度叶片抛磨专用机器人系统,并开展复杂曲面叶片抛磨轨迹规划方法研究。首先基于D-H法建立该机器人运动学模型,进行机器人运动学的正、逆解的求解;其次给出了综合考虑抛磨工具与工件曲率的干涉、刀路轨迹行距和轨迹点密度对残留高度的影响规律的轨迹规划方法,建立了2个单元的协同运动模型保证叶片的加工实现;最后通过叶片抛磨轨迹数控程序验证了所获得的抛磨轨迹的正确性。

基于柔性演员-评论家算法的决策规划协同研究

为了解决基于常规深度强化学习(Deep Reinforcement Learning, DRL)的自动驾驶决策存在学习速度慢、安全性及合理性较差的问题,本文提出一种基于柔性演员-评论家(Soft Actor-Critic,SAC)算法的自动驾驶决策规划协同方法,并将SAC算法与基于规则的决策规划方法相结合设计自动驾驶决策规划协同智能体。结合自注意力机制(Self Attention Mechanism, SAM)和门控循环单元(Gate Recurrent Unit, GRU)构建预处理网络;根据规划模块的具体实现方式设计动作空间;运用信息反馈思想设计奖励函数,给智能体添加车辆行驶条件约束,并将轨迹信息传递给决策模块,实现决策规划的信息协同。在CARLA自动驾驶仿真平台中搭建交通场景对智能体进行训练,并在不同场景中将所提出的决策规划协同方法与常规的基于SAC算法的决策规划方法进行比较,结果表明,本文所设计的自动驾驶决策规划协同智能体学习速度提高了25.10%,由其决策结果生成的平均车速更高,车速变化率更小,更接近道路期望车速,路径长度与曲率变化率更小。