A Reverse Path Planning Approach for Enhanced Performance of Multi-Degree-of-Freedom Industrial Manipulators

In the domain of autonomous industrial manipulators,precise positioning and appropriate posture selection in path planning are pivotal for tasks involving obstacle avoidance,such as handling,heat sealing,and stacking.While Multi-Degree-of-Freedom(MDOF)manipulators offer kinematic redundancy,aiding in the derivation of optimal inverse kinematic solutions to meet position and posture requisites,their path planning entails intricate multiobjective optimization,encompassing path,posture,and joint motion optimization.Achieving satisfactory results in practical scenarios remains challenging.In response,this study introduces a novel Reverse Path Planning(RPP)methodology tailored for industrial manipulators.The approach commences by conceptualizing the manipulator’s end-effector as an agent within a reinforcement learning(RL)framework,wherein the state space,action set,and reward function are precisely defined to expedite the search for an initial collision-free path.To enhance convergence speed,the Q-learning algorithm in RL is augmented with Dyna-Q.Additionally,we formulate the cylindrical bounding box of the manipulator based on its Denavit-Hartenberg(DH)parameters and propose a swift collision detection technique.Furthermore,the motion performance of the end-effector is refined through a bidirectional search,and joint weighting coefficients are introduced to mitigate motion in high-power joints.The efficacy of the proposed RPP methodology is rigorously examined through extensive simulations conducted on a six-degree-of-freedom(6-DOF)manipulator encountering two distinct obstacle configurations and target positions.Experimental results substantiate that the RPP method adeptly orchestrates the computation of the shortest collision-free path while adhering to specific posture constraints at the target point.Moreover,itminimizes both posture angle deviations and joint motion,showcasing its prowess in enhancing the operational performance of MDOF industrial manipulators.

Fault tolerant motion planning based on joint torque limit for redundant manipulators

First, two fault tolerant planning algorithms with avoidance of joint static torque limit or joint dynamic torque limit are proposed respectively. The former is suitable for the low-speed manipulators, and the latter is suitable for the high-speed manipulators. These algorithms not only can insure manipulation tasks to lie within the fault tolerant workspace but also can avoid joint torque limit, and hence can insure a redundant manipulator to be. fault tolerant in both kinematical sense and dynamic sense. Then, the simulation examples for a planar 3R manipulator demonstrate the validity of these algorithms.

Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅰ)

Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.

Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.

Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ)

Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.

Disassembly sequence planning using component-joint graph and ant colony optimization

Disassembly sequence planning is an important step of mechanical maintenance. This article presents an integrated study about the generation and optimizing algorithm of the disassembly sequence. Mechanical products are divided into two categories of components and connectors. The article uses component-joint graph to represent assembly constraints, including the incidence constraints are represented by incidence matrix and the interference constraints are represented by interference constraints. The inspiring factor and pheromone matrix are calculated according to assembly constraints. Then the ant generates its own disassembly sequences one by one and updates the inspiring factor and pheromone matrix. After all iterations, the best disassembly sequence planning of components and connectors are given. Finally, an application instance of the disassembly sequence of the jack is presented to illustrate the validity of this method.

Advance Planning in the Context of a Psychiatric Acute Care Hospital:Acceptance of a Trialogical Pilot Project

A joint crisis plan is a written consensus-orientated agreement between mental health service users and professionals.The instrument is used to regulate a potential future hospital treatment.At the Clinics of Upper Bavaria(kbo-Kliniken des Bezirks Oberbayern)representatives of the clinics,the organized relatives and those affected developed the pilot project“Joint Crisis Plan”in a trialogical process.The pilot project was evaluated between 2015 and 2017.The qualitative study looked at the experiences with the implementation of the instrument medical treatment agreement in different local settings.In doing so it considered the complex effects of“advance directives”on various levels such as the subjective importance and meaning as experienced by the patients,the effects on face-to-face interactions between patients and the medical staff,and the effects on institutional structures.And it considered the local influence—such as medical cultures or economic and institutional conditions—on the implementation process and the use of this instrument.The results showed that patients need numerous competences to complete a joint crisis plan.Likewise the instrument affects self-efficacy and self-images of the patients and the relation between the patients and the clinical staff in a positive way.But if the joint crisis plan is insufficiently implemented,the instrument generates rather a mortification of the self.

Study on the Joint Meeting Mechanism for the National Human Rights Action Plan

The joint meeting mechanism for the National Human Rights Action Plan(NHRAP)is a multi-faceted mechanism which unifies political,legislative,administrative,judicial and social sectors.It undertakes the responsibility of formulating,implementing,supervising and evaluating the NHRAP,promotes mutual learning,exchange and competition among member units in the protection of human rights.Over the ten years since it was established,it has proved to be a successful innovative mechanism for protecting human rights that is in line with China’s national conditions.In order to improve the operation of the joint meeting mechanism the NHRAP,it is necessary to establish a more effective coordination mechanism within the joint meeting mechanism,and to subdivide the monitoring and evaluation functions into three levels.

THEORETICAL DESIGN AND MOTION PLANNING OF NONHOLONOMIC MANIPULATOR

A new nonholonomic transmission mechanism is proposed based on thenonholonomic theory and nonlinear control principle, and combined with conditions of thenonholonomic motion planning and control, that is researched to compose method of the motiontransfer chain from this transmission mechanism, on which a new nonholonomic manipulator isdesigned. This nonholonomic manipulator is a controllable multi-joint manipulator that actuated onlyby two-servo electromotor. Its motion expresses the characteristic of nonholonomy constraint andnonlinear, and that also satisfies the chained form convertibility. And then, using the nonlinearcontrol principle of chained system, motion characteristic of the nonholonomic manipulator isapplied. From simulation verification and analysis, the usefulness of the theoretical design andcontrol strategies is shown, and that is important in design and research of handiness robot andmulti-finger robot hand.

BP Plans to Sell Stake in Chinese Joint Venture

BP,the UK energy group,is planning to sell one of its biggest Chinese investments,by disposing of its 50percent stake in the SECCO petrochemicals plant near Shanghai.BP is the latest western oil company to curtail activity in China,as energy groups reel from low crude and petrochemical prices.China’s slow liberalization

China and France Plan to Launch First Joint Oceanography Satellite in 2018

The first satellite jointly developed by China and France,China-France Oceanography Satellite（CFOSAT）,will be launched on a LM carrier rocket in the second half of 2018 announced at a press conference jointly held by the China National Space Administration（CNSA）and French embassy in Beijing.The satellite is being tested at a Beijingbased AIT center of CNSA.CFOSAT is an oceanic satellite supported under a joint project of CNSA and the National Center for Space Studies（CNES）of France.

Exploring the Gaps between Master's Degree Holders' Competence and Industrial Demands in Urban and Rural Planning: Senior Field Engineers' Observations and Reflexive Narrative

This paper examines the academic-work gap in terms of performance reality and performance expectations by expanding on the cultivation model of Master's students in the university context and the most recent industry requirements for talents'competence.The subjects of this paper are Master's degree holders,both academic and professional.The paper examines common issues encountered by enterprise professionals when employing Master's degree holders and proposes a university-enterprise joint cultivation model to achieve win-win outcomes for both higher education institutions and businesses.

考虑配电网全过程韧性提升的多类型韧性资源分布鲁棒机会约束规划

针对现有配电网韧性提升策略研究侧重于某一阶段、考虑韧性资源单一、刻画线路故障不确定性不全面等问题,提出了考虑配电网全过程韧性提升的多类型韧性资源分布鲁棒机会约束规划方法。首先,构建了基于Wasserstein距离的风场强度与线路故障概率、风机出力阈值之间强耦合下的不确定性模糊集。其次,建立了基于极端灾害时序特性的“预防-应急-抢修”双层三阶段配电网分布鲁棒机会约束规划模型对多类型韧性资源进行联合部署、调度。然后,进一步对模型进行线性化处理,并基于条件风险价值理论(conditional value-at-risk,CVaR)和强对偶理论将所提分布鲁棒模型转化为混合整数二阶锥规划问题。最后,基于算例数字仿真验证了所提方法能够保障强不确定环境下配电网的韧性和供电可靠性。

考虑旅客分类的高速铁路票价与票额综合优化

高铁列车差异化定价是调节客流量,优化运输资源供需匹配的有效手段,能够提高列车上座率,增加高速铁路客票收益.针对高速铁路客票定价中存在的问题,引入收益管理的思想,分析不同经济水平旅客对票价的敏感度,提出考虑旅客分类的票价和票额联合优化方法,将旅行时间和票价作为衡量旅客出行费用的指标,构建弹性需求函数描述客流量与票价之间的变化关系,并通过logit模型测算各列车的客流分担率.在此基础上,以各起讫点(origin destination,OD)间不同列车的票额和票价为决策变量,同时考虑列车票价上下限约束和列车能力约束等,以高铁收益最大化为目标建立票价和票额联合优化模型,设计模拟退火算法与杉数求解器COPT(cardinal optimizer)相结合的算法将模型分解为两阶段进行求解.以京沪高铁列车为例对票价制定进行计算分析,结果显示,与现有的单一定价方案以及未考虑旅客类型的综合优化方案相比,引入旅客类型的票价和票额联合优化方案的客票期望收益分别提高了5.03%和1.02%,表明在票价票额联合优化的同时,考虑旅客分类能有效提高高铁列车上座率与客票收益.

基于思维模拟的虚拟指挥员作战决策模型

聚焦联合作战方案仿真实验评估迫切需求,针对联合作战仿真系统中指挥实体智能自主决策能力不足、“人不在回路”仿真实验模式难以推广运用的现实问题,探索在仿真回路中引入模拟人类指挥员决策思维和决策行为的联合战役层级仿真智能体——虚拟指挥员,提出了虚拟指挥员及其作战决策的定义与定位,构建了一种以决策思维模拟为核心的虚拟指挥员作战决策模型体系框架,基于自然决策理论设计了虚拟指挥员作战决策思维模型、行为模型和仿真模型,为解决“人不在回路”仿真实验瓶颈问题提供了一种可行的解决途径。

基于分层多智能体的多星联合任务规划架构研究

随着卫星规模、种类的不断增长,现有卫星任务规划技术架构已很难满足多类型卫星联合运用的有效性及可扩展性要求。通过深入分析多星任务筹划、单星任务规划、数传资源规划等环节,建立了基于分层多智能体的多星联合任务规划技术架构,设计了与架构匹配的相关优化算法及智能体功能实现机制,实现了多星联合任务规划能力。仿真实验及分析结果表明,该架构对多类型卫星联合任务规划场景有良好的适用性。

面向战区联合作战的空间需求响应任务规划

针对战区联合作战中的空间需求响应问题,描述了面向战区联合作战的空间需求响应任务规划的背景;从空间资源能力、空间需求响应机制、空间需求响应效益和代价等方面,分析了空间需求响应任务规划所需考虑的主要因素;定义并描述了任务规划模型,设计了任务规划计算方法,并结合战区联合作战实际进行了案例仿真与分析,验证了模型和方法的有效性,为战区联合作战中空间需求的有效响应提供了理论和方法支撑。

“校企联培制”模式下应用型卓越人才培养路径探究——以湖北大学知行学院为例

近年来地方应用型本科高校以服务地方经济和产业需求为己任,着重培养学生的工程和创新技术应用能力,高校与企业合作,发挥各自优势,实现生产、教学、科研的深度合作,共同完成人才培养。介绍机械类专业在新工科背景下,以培养应用型卓越人才为目标,基于“校企联培制”的总体思路,实施学校专业教学计划与企业工程师培养计划“双计划”,在人才培养体系设计、校企资源整合、就业平台搭建和师资力量提升等方面进行改革,实施产教融合,提升就业能力,最终实现人才的高质量培养和就业。

创建行动导向下美丽乡村联创联建的规划设计方法探索

伴随着浙江省乡村发展愿景从“千万工程”到“美丽乡村”再到共同富裕的纵深推进,以单个行政村为单元的美丽乡村创建模式已经难以适应新的发展诉求。基于自然资源禀赋或基础设施地理空间连续性的美丽乡村联创联建工作,是破解各行政村独立发展的多重瓶颈的创新性尝试。针对具有明确的目标、资金、时间约束的美丽乡村创建行动,基于“产业-空间协同发展”的总体思路,试图探讨一种面向美丽乡村联创联建的规划设计方法,即“二阶三心法”。这一方法从乡村地区的存量资源切入,旨在系统性、创造性地回应创建行动目标,开展面向产业-空间复合型目标的空间规划干预:一是基于“土地矛盾最小化原则”进行空间节点设计,二是基于“空间投入-融合效益最大化原则”形成特色主线,三是基于“优先塑造-示范带动原则”打造示范样板。进一步的,结合湖州市道场乡菰城片区规划设计工作,探讨了该方法在产业策划和空间设计层面落地应用的关键问题和解决策略,为中国先发地区美丽乡村联创联建的规划设计工作提供经验借鉴。

联合对海突击背景下电子对抗任务规划研究

电子对抗是联合对海突击作战中的重要支撑行动,能够有效提升主突行动隐蔽性、平台安全性和突防概率。然而,现有电子对抗任务规划理论存在与主战行动关联不强、多域力量难以集成、战役战术规划定位不准等问题。针对以上问题,分析了联合对海突击背景下电子对抗行动的基本作战需求,设计提出了电抗任务生成、目标体系分析、电抗兵力分配、电磁频谱规划、飞行航线规划、作战指令生成等6个规划步骤,梳理了相关数据体系和模型体系;有助于完善电子对抗任务规划理论,提升规划科学性,牵引电子对抗数据库、模型库和规划系统的研发工作。