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Lae-hyung Ryu Tae-wan Kim Min-jae Oh Nam-kug Ku Kyu-yeul Lee 《Journal of Marine Science and Technology》2009,14(3):345-358
We propose a method to determine the optimal initial location and to generate torch paths for a ship welding robot with 6
degrees of freedom (DOF). The optimal initial location is determined using an objective function, which is set up by combining
constraints on the torch posture, manipulability, and the range of each joint angle to avoid collisions. A genetic algorithm
(GA) is used to optimize the objective function because it does not require additional derivatives. After the initial location
is determined, torch paths are generated by interpolating the starting point, endpoints and torch postures using inverse kinematics.
Our method can be applied to automate the welding job for each block during ship building, irrespective of the shape of the
robots, by changing the objective function. 相似文献
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浙江省公路网车辆OD数据库管理系统开发研究 总被引:1,自引:1,他引:0
基于公路网OD调查数据现状管理与深度利用的需要,结合浙江省公路网车辆OD数据库管理系统的开发.对系统设计原则与开发平台、功能与框架、技术流程以及关键技术进行详细阐述,可为今后建立更科学和完善的数据库系统提供参考。 相似文献
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针对仅使用槽道推进器提供横向推力的动力定位船舶路径跟踪控制问题,建立慢变环境干扰影响下的非线性船舶数学模型,设计带有自适应干扰补偿的反步控制算法来消除环境干扰的影响。引入平行目标接近(CB)导引算法为跟踪控制生成期望速度矢量信号,通过与所提出的自适应反步控制算法相结合,得到不受船舶驱动特性限制的全速度范围动力定位船舶导引跟踪控制算法,应用李雅普诺夫稳定性理论证明系统跟踪误差渐进收敛到零。仿真结果表明通过调整导引算法参数可以调节船舶跟踪过程表现,并可以得到较好的控制精度。 相似文献
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We present new approaches that expand upon the time geographic density estimation (TGDE) framework previously employed to estimate potential path trees. In the past, TGDE metrics have identified possible locations an individual moving object may have passed between, given known origin and destination points. This paper utilizes a new form of TGDE to investigate taxicab GPS traces over a specified time horizon with position ‘gaps’. To this end, we propose a new extension to the TGDE framework, TGDE-C, which is used to determine the cumulative TGDE values for a group of GPS traces, at a given location. These metrics are applied to multiple taxis and allow for time of day analysis. Additionally, we combine these new extensions with existing TGDE metrics that allow us to determine how accessible individual or groups of vehicles are to urban opportunities. 相似文献
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Donghyung Yook 《运输规划与技术》2015,38(8):935-953
In this paper, the crowding effect in a transit vehicle is modeled in a time-expanded network that considers the daily variation in passenger flows. The study models the daily variation of in-vehicle crowding in a real large-scale transit system. A transit assignment for this real network is modeled and implemented by constructing a crowding cost function that follows the valuation of crowding and by using the reliable shortest path finding method. The direct application of the crowding model to a real network for the Utah Transit Authority indicates that crowd modeling with multi-user classes could influence public transportation system planning and affect the revenues of transit agencies. Moreover, the addition of the disutility factor, crowding, does not always appear to cause an increase in disutility for transit users. 相似文献
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