Dynamic Obstacle Avoidance for Application of Human-Robot Cooperative Dispensing Medicines

For safety reasons,in the automated dispensing medicines process,robots and humans cooperate to accomplish the task of drug sorting and distribution.In this dynamic unstructured environment,such as a human-robot collaboration scenario,the safety of human,robot,and equipment in the environment is paramount.In this work,a practical and effective robot motion planning method is proposed for dynamic unstructured environments.To figure out the problems of blind zones of single depth sensor and dynamic obstacle avoidance,we first propose a method for establishing offline mapping and online fusion of multi-sensor depth images and 3D grids of the robot workspace,which is used to determine the occupation states of the 3D grids occluded by robots and obstacles and to conduct real-time estimation of the minimum distance between the robot and obstacles.Then,based on the reactive control method,the attractive and repulsive forces are calculated and transformed into robot joint velocities to avoid obstacles in real time.Finally,the robot's dynamic obstacle avoidance ability is evaluated on an experimental platform with a UR5 robot and two KinectV2 RGB-D sensors,and the effectiveness of the proposed method is verified.     

双线轨道电路电缆径路图的制作技巧

鉴于信号图形信息化档案管理系统已经成为电务段履历簿管理的常用工具,使用中可能会遇到一些问题。现介绍双线轨道电路图的制作要求及电缆径路图的制作方法,讨论关键制图环节的处理方法,供大家参考。     

有关“避碰规则”中增加VHF条款的探讨

随着航运业的发展和船舶通航密度的增大，VHF通信在船舶避碰中的使用越来越广泛。为了使其在协助船舶避碰中发挥更有效的作用，建议在“避碰规则”中增加VHF条款，并就此提出了看法。     

物流网络优化中路径问题的研究

在深入分析物流系统化和网络化的基础上,对物流网络优化中物流路径问题进行研究,通过分析物流结构模型和数学模型,提出了最短路径和关键路径物流策略的分析方法,给出了具体的计算方法,并举实例加以说明,为解决现代物流结构中存在的系统设计和运作等问题提供了理论依据和技术方法。     

The performance of route modification and demand stabilization strategies in stochastic vehicle routing

A key concern in managing vehicle routing operations under stochastic demands is whether, on the basis of travel distance, route modification yields materially greater logistical efficiency than fixed routes. This research uses statistical calibration as the primary technique to develop a robust and tractable model for estimating this difference in logistical efficiency. Based on features such as the models predictive accuracy and generalizability, it constitutes a substantive improvement over existing models. The present study also expands the range of predictive models relevant to vehicle routing under stochastic demands with models to estimate the transportation and inventory effects of persuading customers to stabilize their ordering patterns.     

光纤网中可变波长光交换机的优化设计

为了解决光波转换器成本昂贵与其在光纤网络中的重要性之间的矛盾，提出了新的可变波长光交换机结构和相应的优化路由及波长分配算法．为了验证该可变波长光交换机的优越性，基于NSF网络进行了仿真，并给出了最有效的光波转换器的使用方法及其配置．该光交换机设计结构和仿真工具，可以方便地应用到其它骨干光网络中各个交换节点的最优化设计中．     

Energy-aware load-balaning fault-tolerant routing scheme for ad hoc sensor networks

Most routing protocols for sensor networks try to extend network lifetime by minimizing the energy consumption, but have not taken the network reliability into account. An energy-aware, load-balancing and fault-tolerant routing scheme, termed as ELFR was propsed to adapt to the harsh environment. First a network robustness model was presented. Based on this model, the route discovery phase was designed to make the sensors to construct into a hop-leveled network which is mesh structure. A cross-layer design was adopted to measure the transmission delay so as to detect the failed nodes. The routing scheme works with acknowledge （ACK） feedback mechanism to transfer control messages to avoid producing extra control overhead messages. When nodes fail, the new healthy paths will be selected locally without rerouting. Simulation results show that our scheme is much robust, and it achieves better energy efficiency, load balancing and maintains good end-to-end delay.     

方格路网车辆路径在线选择模型及竞争分析

为分析城市方格路网遭遇突发性堵塞下的车辆路径选择问题,应用在线问题与竞争策略的方法建模,设计了2种在线路径选择竞争策略,即方向贪婪策略和多选择移动策略,计算了2种策略的竞争性能比。通过策略竞争分析得出:在发生突发性堵塞的情形下,方向贪婪策略下的费用为最优费用的3倍;利用多选择移动策略在对网络具有实际意义约束条件下的部分情形能够得到最优费用,且在最坏情形下的费用为最优费用的2倍;2种策略的竞争性能比优于以往研究给出的堵塞不可恢复问题竞争比的下界。     

基于空间特性的行李跟随系统的车辆调度方法

为了提高车辆配送初始解获得的效率,在不确定条件下,研究了上海世博会行李跟随系统需求点的空间特性,提出了基于空间特性的车辆调度方法,建立了需求点的空间特性SLINK聚类分析方法和聚类分析结果评估方法。计算结果表明:在需求点群聚状态下,采用基于空间特性的聚类分析法的调度初始解总距离为583,而传统SWEEP扫描法的调度初始解总距离为595,因此,在对车辆调度问题进行求解时,对需求点的空间分布特性进行分析有助于不确定环境下车辆调度问题的最终求解。     

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应用整数规划研究航运集装箱路径选择问题,并将重箱和空箱统一在一个系统中研究。在本文模型中,以集装箱运输总利润最大化为目标函数,利润是重箱运输利润减去重、空箱运输成本。约束条件考虑到满足空集装箱需求和重集装箱需求、航线运输能力限制及空箱供给数量等。应用LINGO9.0求解模型,并通过数值仿真来证明不同参数影响下的调运策略。本文旨在为船公司提供合理的航运集装箱运输方案,从而降低船公司的集装箱运输成本,实现船公司集装箱运输效益最大化。