边远海域救援船舶与直升机联合搜救优化

以救援船舶行驶路线、释放救援直升机时刻与救援直升机搜索方案为优化内容,以搜救时间最短和发现概率最大为目标,建立了海空联合搜救双目标优化模型,并结合地理信息系统和智能算法设计了模型求解算法;利用地理信息系统模拟了复杂海洋环境中风、浪因素影响下的救援船舶和遇险船舶运行状态,采用自适应混沌搜索替代随机搜索,改进了传统粒子群算...     

基于STM32的灾难现场搜救机器人研制

针对矿难、地震等突发灾难发生时的恶劣现场环境,提出并设计了一款能够适应各种复杂地形,信息传输能力强,功能全面的搜救机器人.基本思路将机器人设计为动力部分、功能部分、控制及通信部分.该系统采用蚁群算法计算出最佳搜救路径,使救援更加高效,采用2.4G ZigBee无线传感器技术进行数据传输和信息记录,大大提高了信息的准确性和安全性,结合多种搜救传感器的方式完成"现场环境探测"、"幸存生命体搜索"、"人员救助救援"等功能,该系统可以针对不同应用场合,对功能进行个性化编辑,从而实现一种移动系统多种应用场合的用途.     

基于层次决策模型和改进Dijkstra算法的地下停车场车辆引导方法研究

本文提出一种用户层次决策和改进Dijkstra引导相结合的地下停车场车位引导方法。首先采用改进Dijkstra算法搜索距离电梯口的距离最近的3个车位供用户选择;然后根据用户对停车位需求,采用层次化决策方法选出满足需求的目标停车位;最后采用Dijkstra算法,将车辆按照最短路径的方法引导到目标停车位。仿真结果表明,该引导方法实现了让用户根据需求参与选择最短路径的目标停车位,并将车辆从地下停车场入口引导到目标停车位,不仅减少了搜索车位数量和引导路径,提高了停车效率,而且实现了停车场车位引导的智能化和人性化。     

基于改进Dijkstra算法的水平循环类立体车库存取车辆路径优化模型

为缩短水平循环类立体车库车辆存取运行时间和用户平均等待时间,设计了一种改进Dijkstra算法的存取车辆运行路径优化模型。基于水平循环类立体车库存取车辆工作逻辑,在构建存取车辆路径运行时间模型的基础上,建立了立体车库的排队模型;以车辆平均排队队长和车辆排队等候时间为评价指标,在搜索方向、搜索范围及动态节点变化方面引入双向扇形动态Dijkstra算法进行优化。研究结果表明：相比于传统Dijkstra算法,改进Dijkstra算法提升了目标节点的搜索效率,且能弥补其缺乏动态搜索能力的缺陷,输出源节点与目标节点之间的最短路径,有效缩短存取车辆运行时间和用户平均等待时间,提升水平循环类立体车库服务效率。     

多目标优化的新方法——幂加权和法及数值仿真

提出了一种新的评价函数,将多目标优化问题转化为单目标优化问题,并证明了由这种方法所得到的最优解是多目标优化问题的有效解.用混合罚函数法将约束问题变为无约束问题,将改进的模拟退火算法与单纯形法结合起来构造一种效率较高的全局优化算法,该算法具有模拟退火算法在全局搜索上的优点和单纯形法在局部搜索上的优点.用计算机语言编制了通用程序,给出了单目标优化和多目标优化的例子,数值仿真结果表明这种方法是可靠的.     

用禁忌搜索技术解决无等待流水调度问题

描述了一种以解决总完工时间最小为目标的无等待流水调度问题的算法.利用启发式方法产生初始解,然后使用禁忌搜索技术改进当前解.对禁忌搜索的邻域结构和搜索策略进行研究.用实际算例进行仿真试验,算法在合理的时间内达到最优值,验证了算法的可行性和有效性.     

无人机水上遇险搜救关键技术研究

为提高水上交通安全应急处理能力,突破船艇在水上遇险搜救中存在的限制,针对基于无 人机的水上搜救关键技术进行了研究。首先,对无人机系统和性能需求进行了分析并设计了一个无人机实验平台;其次,针对目标识别与定位技术、机载甚高频无线通信技术以及基于北斗导航 系统的无人机信息传输技术进行了详细分析,以解决水上目标识别定位、水上应急通信及无人机远程巡航等关键问题,并在此基础上开发了配套的无人机水上交通安全应急处置系统,最终实现 了无人机水上遇险搜救应急处置装置的研发。最后,在东海海区的示范应用结果表明,该装置能够准确地对水上目标进行有效识别,可进一步为水上遇险搜救提供技术保障。     

基于蚁群算法的客运站到发线运用计划编制方法

建立了客运站到发线使用的0-1规划模型,并用蚁群算法求解,用理论最优目标函数值与目标函数值的比值表达信息素,用列车使用到发线权值的倒数表达启发式信息,用2-opt的方法实现局部搜索,为提高解的性能和算法的收敛速度,按所处时段的列车密集程度和对其它列车的影响程度由大到小排序,再按该顺序求解,用哈尔滨站的实际数据验证了提出的方法的有效性。     

用于结构可靠指标计算的随机梯度算法

提出了一种基于几何原理求解结构可靠指标的高效实用算法,即随机梯度算法.该算法根据随机搜索方向的梯度反馈信息,采取有效的优化策略对随机搜索方向加以调整,缩短搜索路径,使目标的搜索方向更为准确,搜索效率更高.编制了相应程序对该算法的计算过程进行跟踪演示,以便直观形象地了解程序执行运作情况和算法性能,便于进行参数分析.经3个工程算例验证,该算法适用于结构可靠指标计算,计算精度令人满意.     

求解拆卸线平衡问题的改进人工蜂群算法

大规模拆卸线平衡问题（disassembly line balancing problem,DLBP）是NP完全问题。为克服传统算法求解DLBP搜索过于随机、易于早熟,且求解难度随任务规模的增加呈指数级增长等不足,构建了基于最小化工作站、均衡负荷、尽早拆卸有危害和高需求零部件的DLBP多目标优化模型,在此基础上,提出了改进人工蜂群算法。该算法包括以下4个阶段:在初始解生成阶段,引入危害指标和需求指标,提升算法收敛性能;在雇佣蜂搜索阶段,采取可变步长搜索策略,增加对较优解的搜索深度,加速淘汰劣解;在观察蜂搜索阶段,采用常规搜索与蠕动搜索相结合的混合搜索策略;在侦察蜂搜索阶段,构造了基于分布估计的搜索策略,引导搜索过程。应用本文算法对70个测试问题进行求解,其中65个求得了最优解,寻优率为92.86%;对10个任务实例求得最优解的需求指标为9730个,比蚁群算法减少了360个;52个任务实例的开启工作站数目、平滑率和拆卸成本3项指标均取得了更优的结果,求解较大规模问题的性能显著提升。      

Teleoperated Puncture Robot System:Preliminary Design and Workspace Analysis

Radiofrequency ablation (RFA) guided by X-ray images aims to relieve herniated disc pain with mini-mal invasiveness and fast recovery.It requires an accurate and fast positioning of the puncture needle.We propose a teleoperated robotic system for percutaneous puncture to support RFA.We report the kinematics modelling and workspace analysis of the proposed system,which comprises preliminary and accurate positioning mechanisms.Preliminary positioning mechanism automatically drives the needle to the puncture area,and accurate positioning is then achieved by teleoperation under the guidance of X-ray images.We calculate the teleoperation workspace of the robot system using a spatial search algorithm and quantitatively analyze the optimal structural parameters aiming to maximize the workspace.The workspace of the proposed robot system complies with clinical require-ments to support RFA.     

Long-term tracking based on spatio-temporal context

Aiming at the problem that the fast tracking algorithm using spatio-temporal context (STC) will inevitably lead to drift and even lose the target in long-term tracking, a new algorithm based on spatio-temporal context that integrates long-term tracking with detecting is proposed in this paper. We track the target by the fast tracking algorithm, and the cascaded search strategy is introduced to the detecting part to relocate the target if the fast tracking fails. To a large extent, the proposed algorithm effectively improves the accuracy and stability of long-term tracking. Extensive experimental results on benchmark datasets show that the proposed algorithm can accurately track and relocate the target though the target is partially or completely occluded or reappears after being out of the scene.     

A real-time collision-free path planning of a rust removal robot using an improved neural network

In this paper, a real-time collision-free path planning of the rust removal robot in a ship environment is proposed, which is based on an improved biologically inspired neural network algorithm. This improved algorithm is based on the biologically inspired neural network and modified with obstacle detection sensors and kinematic state templates, and is implemented in a ship rust removal robot planning system for dynamic trajectory generation. The real-time optimal trajectory is generated by the biologically inspired neural network, and the moving obstacle detection process of a ship robot working on the wall is simulated with the obstacle detection sensors models. The local real-time trajectory can be re-planned by the updated local map information, where the obstacle detection sensors are used to inspect partial environment information and update the robot nearby information in real time in the original neural network algorithm. At the same time, the method of the kinematic state templates matching and searching is used to solve the pipes’ influence of the rust removal robot climbing on the wall, which can not only provide a smooth path, but also can judge the motion direction and turning angle of the robot. Comparison of the proposed approach with the simulation shows that the improved algorithm is capable of planning a real-time collision-free path with achieving the local environmental information and judging the rust removal robot’s motion direction and turning angle. This proposed algorithm can be good used in the ship rust removal robot.     

红外运动目标图像的识别与跟踪技术研究

文中实现了基于红外扫描图像的运动物体自动识别跟踪系统.选择了Butterworth滤波和中值滤波结合的方法对图像进行预处理,基于多帧图像的局部能量的分割算法来实现图像背景的分割,并采用卡尔曼跟踪算法和目标方位确定算法相结合完成对红外小目标的跟踪.在VC++中使用GDI来建立雷达扫描式的极坐标系,将目标运动轨迹在坐标系中显示出模拟轨迹.     

两自由度并联机器人的RBF神经网络辨识自适应控制

针对平面两自由度五杆并联机器人的轨迹跟踪问题,提出了一种基于RBF神经网络的自适应PID控制方法.该控制方案利用RBF神经网络自适应学习辨识并联机器人系统的未知非线性动态,可以在线调整PID控制参数以实现高精度控制.仿真结果显示该控制策略可以精确实现对于并联五杆机器人的轨迹跟踪控制,该方法的自适应性和跟踪性能均优于传统的PID控制.     

钢管混凝土拱桥施工合龙合理状态的遗传搜索

由于钢管混凝土拱桥的受力特点，在施工仿真计算中无法找到倒退分析的起点，为此，尝试嵌入遗传算法来确定钢管拱肋施工合龙前的合理状态，以此作为倒退分析的起点，确定了以扣索索长调整量为变量参数的目标函数，而目标函数需要通过结构仿真计算才能得出相对应的目标函数值，搜索相当复杂，因此采用实数遗传算法，改进了遗传操作，以满足搜索的精度和速度，并用算例搜索出了合龙时拱肋线形的合理状态，经比较其状态是合理的，可以作为倒退分析的起点。     

Optimal posture searching algorithm on mobile welding robot

An independently developed mobile welding robot system is introduced. Kinematics model is the base of robot planning. With the Denavit-Hartenberg method, robot kinematics equation can be gotten. The robot welding torch inclination angle consists of the working and moving angles. According to the kinematics model, both the two angles and torch position can be calculated. Under special moving angle, a two-step algorithm is used to obtain the optimal manipnlator posture. The calculation result shows that the Mgorithm has high precision.     

Safety Protection Method of Rehabilitation Robot Based on fNIRS and RGB-D Information Fusion

In order to improve the safety protection performance of the rehabilitation robot,an active safety protection method is proposed in the rehabilitation scene.The oxyhemoglobin concentration information and RGB-D information are combined in this method,which aims to realize the comprehensive monitoring of the invasion target,the patient's brain function movement state,and the joint angle in the rehabilitation scene.The main focus is to study the fusion method of the oxyhemoglobin concentration information and RGB-D information in the rehabilitation scene.Frequency analysis of brain functional connectivity coefficient was used to distinguish the basic motion states.The human skeleton recognition algorithm was used to realize the angle monitoring of the upper limb joint combined with the depth information.Compared with speed and separation monitoring,the protection method of multi-information fusion is safer and more comprehensive for stroke patients.By building the active safety protection platform of the upper limb rehabilitation robot,the performance of the system in different safety states is tested,and the safety protection performance of the method in the upper limb rehabilitation scene is verified.     

视觉伺服机器人视界内的直接路径规划

建立了GRB-400单目视觉伺服机器人的图像雅可比矩阵，针对此动态双环系统设计了控制算法使视觉伺服闭环运动控制系统稳定．根据视觉伺服闭环运动控制系统的需要，提出了最速下降法与惩罚函数法相结合的平面规划方法,在机器人的视界内解决一定时间内最小能量的路径规划问题．仿真与实验结果表明。机器人根据在其视觉范围内的目标物体的位置即可采用上述方法确定优化的路径。