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Neural network fault diagnosis method optimization with rough set and genetic algorithms
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作者 孙红岩 《Journal of Chongqing University》 CAS 2006年第2期94-97,共4页
Aiming at the disadvantages of BP model in artificial neural networks applied to intelligent fault diagnosis, neural network fault diagnosis optimization method with rough sets and genetic algorithms are presented. Th... Aiming at the disadvantages of BP model in artificial neural networks applied to intelligent fault diagnosis, neural network fault diagnosis optimization method with rough sets and genetic algorithms are presented. The neural network nodes of the input layer can be calculated and simplified through rough sets theory; The neural network nodes of the middle layer are designed through genetic algorithms training; the neural network bottom-up weights and bias are obtained finally through the combination of genetic algorithms and BP algorithms. The analysis in this paper illustrates that the optimization method can improve the performance of the neural network fault diagnosis method greatly. 展开更多
关键词 rough sets genetic algorithm BP algorithms artificial neural network encoding rule
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Real-Time Programmable Nonlinear Wavefront Shaping with Si Metasurface Driven by Genetic Algorithm
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作者 Ze Zheng Gabriel Sanderson +4 位作者 Soheil Sotoodeh Chris Clifton Cuifeng Ying Mohsen Rahmani Lei Xu 《Engineering》 2025年第6期90-95,共6页
Nonlinear wavefront shaping is crucial for advancing optical technologies,enabling applications in optical computation,information processing,and imaging.However,a significant challenge is that once a metasurface is f... Nonlinear wavefront shaping is crucial for advancing optical technologies,enabling applications in optical computation,information processing,and imaging.However,a significant challenge is that once a metasurface is fabricated,the nonlinear wavefront it generates is fixed,offering little flexibility.This limitation often necessitates the fabrication of different metasurfaces for different wavefronts,which is both time-consuming and inefficient.To address this,we combine evolutionary algorithms with spatial light modulators(SLMs)to dynamically control wavefronts using a single metasurface,reducing the need for multiple fabrications and enabling the generation of arbitrary nonlinear wavefront patterns without requiring complicated optical alignment.We demonstrate this approach by introducing a genetic algorithm(GA)to manipulate visible wavefronts converted from near-infrared light via third-harmonic generation(THG)in a silicon metasurface.The Si metasurface supports multipolar Mie resonances that strongly enhance light-matter interactions,thereby significantly boosting THG emission at resonant positions.Additionally,the cubic relationship between THG emission and the infrared input reduces noise in the diffractive patterns produced by the SLM.This allows for precise experimental engineering of the nonlinear emission patterns with fewer alignment constraints.Our approach paves the way for self-optimized nonlinear wavefront shaping,advancing optical computation and information processing techniques. 展开更多
关键词 nonlinear metasurface genetic algorithm Wavefront manipulation
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Parallel Distributed CFAR Detection Optimization Based on Genetic Algorithm with Interval Encoding
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作者 于泽 周荫清 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2010年第3期351-358,共8页
Aiming at parallel distributed constant false alarm rate (CFAR) detection employing K/N fusion rule,an optimization algorithm based on the genetic algorithm with interval encoding is proposed. N-1 local probabilitie... Aiming at parallel distributed constant false alarm rate (CFAR) detection employing K/N fusion rule,an optimization algorithm based on the genetic algorithm with interval encoding is proposed. N-1 local probabilities of false alarm are selected as optimization variables. And the encoding intervals for local false alarm probabilities are sequentially designed by the person-by-person optimization technique according to the constraints. By turning constrained optimization to unconstrained optimization,the problem of increasing iteration times due to the punishment technique frequently adopted in the genetic algorithm is thus overcome. Then this optimization scheme is applied to spacebased synthetic aperture radar (SAR) multi-angle collaborative detection,in which the nominal factor for each local detector is determined. The scheme is verified with simulations of cases including two,three and four independent SAR systems. Besides,detection performances with varying K and N are compared and analyzed. 展开更多
关键词 parallel processing systems synthetic aperture radar detectors genetic algorithms OPTIMIZATION encoding
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Genetic Algorithm-Based Estimation of Nonlinear Transducer
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作者 庄哲民 黄惟一 《Journal of Southeast University(English Edition)》 EI CAS 2001年第1期4-7,共4页
This paper describes an innovative, genetic algorithm based inverse model of nonlinear transducer. In the inverse modeling, using a genetic algorithm, the unknown coefficients of the model are estimated accurately. T... This paper describes an innovative, genetic algorithm based inverse model of nonlinear transducer. In the inverse modeling, using a genetic algorithm, the unknown coefficients of the model are estimated accurately. The simulation results indicate that this technique provides greater flexibility and suitability than the existing methods. It is very easy to modify the nonlinear transducer on line. Thus the method improves the transducer's accuracy. With the help of genetic algorithm (GA), the model coefficients' training are less likely to be trapped in local minima than traditional gradient based search algorithms. 展开更多
关键词 nonlinear transducer genetic algorithm inverse model
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Application of Genetic Algorithm to Solving Nonlinear Model of Aeroengines 被引量:20
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作者 李松林 孙健国 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2003年第2期69-72,共4页
Solving the nonlinear model of an aeroengine is converted to an optimization problem, and thus some optimization search methods can be used. An approach to solving the nonlinear model of an aeroengine by use of the g... Solving the nonlinear model of an aeroengine is converted to an optimization problem, and thus some optimization search methods can be used. An approach to solving the nonlinear model of an aeroengine by use of the genetic algorithm (GA) is developed. By comparison with N R algorithm, the accuracy of the values of initial guesses is not required for GA. Especially, the approach developed can be used when no priori knowledges of the values of initial guesses are availabe, and the convergence is improved significantly. GA properly combined with N R algorithm can increase the convergence speed. 展开更多
关键词 genetic algorithm AEROENGINE mathematic model nonlinear equations nonlinerar optimization
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Improved genetic algorithm for nonlinear programming problems 被引量:8
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作者 Kezong Tang Jingyu Yang +1 位作者 Haiyan Chen Shang Gao 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第3期540-546,共7页
An improved genetic algorithm(IGA) based on a novel selection strategy to handle nonlinear programming problems is proposed.Each individual in selection process is represented as a three-dimensional feature vector w... An improved genetic algorithm(IGA) based on a novel selection strategy to handle nonlinear programming problems is proposed.Each individual in selection process is represented as a three-dimensional feature vector which is composed of objective function value,the degree of constraints violations and the number of constraints violations.It is easy to distinguish excellent individuals from general individuals by using an individuals' feature vector.Additionally,a local search(LS) process is incorporated into selection operation so as to find feasible solutions located in the neighboring areas of some infeasible solutions.The combination of IGA and LS should offer the advantage of both the quality of solutions and diversity of solutions.Experimental results over a set of benchmark problems demonstrate that IGA has better performance than other algorithms. 展开更多
关键词 genetic algorithm(GA) nonlinear programming problem constraint handling non-dominated solution optimization problem.
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A Variant Constrained Genetic Algorithm for Solving Conditional Nonlinear Optimal Perturbations 被引量:6
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作者 ZHENG Qin SHA Jianxin +1 位作者 SHU Hang LU Xiaoqing 《Advances in Atmospheric Sciences》 SCIE CAS CSCD 2014年第1期219-229,共11页
A variant constrained genetic algorithm (VCGA) for effective tracking of conditional nonlinear optimal perturbations (CNOPs) is presented. Compared with traditional constraint handling methods, the treatment of th... A variant constrained genetic algorithm (VCGA) for effective tracking of conditional nonlinear optimal perturbations (CNOPs) is presented. Compared with traditional constraint handling methods, the treatment of the constraint condition in VCGA is relatively easy to implement. Moreover, it does not require adjustments to indefinite pararneters. Using a hybrid crossover operator and the newly developed multi-ply mutation operator, VCGA improves the performance of GAs. To demonstrate the capability of VCGA to catch CNOPS in non-smooth cases, a partial differential equation, which has "on off" switches in its forcing term, is employed as the nonlinear model. To search global CNOPs of the nonlinear model, numerical experiments using VCGA, the traditional gradient descent algorithm based on the adjoint method (ADJ), and a GA using tournament selection operation and the niching technique (GA-DEB) were performed. The results with various initial reference states showed that, in smooth cases, all three optimization methods are able to catch global CNOPs. Nevertheless, in non-smooth situations, a large proportion of CNOPs captured by the ADJ are local. Compared with ADJ, the performance of GA-DEB shows considerable improvement, but it is far below VCGA. Further, the impacts of population sizes on both VCGA and GA-DEB were investigated. The results were used to estimate the computation time of ~CGA and GA-DEB in obtaining CNOPs. The computational costs for VCGA, GA-DEB and ADJ to catch CNOPs of the nonlinear model are also compared. 展开更多
关键词 genetic algorithm conditional nonlinear optimal perturbation "on-off" switch adjoint rrtethod
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Parameters optimization and nonlinearity analysis of grating eddy current displacement sensor using neural network and genetic algorithm 被引量:17
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作者 Hong-li QI Hui ZHAO +1 位作者 Wei-wen LIU Hai-bo ZHANG 《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 SCIE EI CAS CSCD 2009年第8期1205-1212,共8页
A grating eddy current displacement sensor(GECDS) can be used in a watertight electronic transducer to realize long range displacement or position measurement with high accuracy in difficult industry conditions.The pa... A grating eddy current displacement sensor(GECDS) can be used in a watertight electronic transducer to realize long range displacement or position measurement with high accuracy in difficult industry conditions.The parameters optimization of the sensor is essential for economic and efficient production.This paper proposes a method to combine an artificial neural network(ANN) and a genetic algorithm(GA) for the sensor parameters optimization.A neural network model is developed to map the complex relationship between design parameters and the nonlinearity error of the GECDS,and then a GA is used in the optimization process to determine the design parameter values,resulting in a desired minimal nonlinearity error of about 0.11%.The calculated nonlinearity error is 0.25%.These results show that the proposed method performs well for the parameters optimization of the GECDS. 展开更多
关键词 Grating eddy current displacement sensor (GECDS) Artificial neural network (ANN) genetic algorithm (GA) Parameters optimization nonlinearity error
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Nonlinear amplitude inversion using a hybrid quantum genetic algorithm and the exact zoeppritz equation 被引量:6
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作者 Ji-Wei Cheng Feng Zhang Xiang-Yang Li 《Petroleum Science》 SCIE CAS CSCD 2022年第3期1048-1064,共17页
The amplitude versus offset/angle(AVO/AVA)inversion which recovers elastic properties of subsurface media is an essential tool in oil and gas exploration.In general,the exact Zoeppritz equation has a relatively high a... The amplitude versus offset/angle(AVO/AVA)inversion which recovers elastic properties of subsurface media is an essential tool in oil and gas exploration.In general,the exact Zoeppritz equation has a relatively high accuracy in modelling the reflection coefficients.However,amplitude inversion based on it is highly nonlinear,thus,requires nonlinear inversion techniques like the genetic algorithm(GA)which has been widely applied in seismology.The quantum genetic algorithm(QGA)is a variant of the GA that enjoys the advantages of quantum computing,such as qubits and superposition of states.It,however,suffers from limitations in the areas of convergence rate and escaping local minima.To address these shortcomings,in this study,we propose a hybrid quantum genetic algorithm(HQGA)that combines a self-adaptive rotating strategy,and operations of quantum mutation and catastrophe.While the selfadaptive rotating strategy improves the flexibility and efficiency of a quantum rotating gate,the operations of quantum mutation and catastrophe enhance the local and global search abilities,respectively.Using the exact Zoeppritz equation,the HQGA was applied to both synthetic and field seismic data inversion and the results were compared to those of the GA and QGA.A number of the synthetic tests show that the HQGA requires fewer searches to converge to the global solution and the inversion results have generally higher accuracy.The application to field data reveals a good agreement between the inverted parameters and real logs. 展开更多
关键词 nonlinear inversion AVO/AVA inversion Hybrid quantum genetic algorithm(HQGA)
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Nonlinear model predictive control based on support vector machine and genetic algorithm 被引量:5
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作者 冯凯 卢建刚 陈金水 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2015年第12期2048-2052,共5页
This paper presents a nonlinear model predictive control(NMPC) approach based on support vector machine(SVM) and genetic algorithm(GA) for multiple-input multiple-output(MIMO) nonlinear systems.Individual SVM is used ... This paper presents a nonlinear model predictive control(NMPC) approach based on support vector machine(SVM) and genetic algorithm(GA) for multiple-input multiple-output(MIMO) nonlinear systems.Individual SVM is used to approximate each output of the controlled plant Then the model is used in MPC control scheme to predict the outputs of the controlled plant.The optimal control sequence is calculated using GA with elite preserve strategy.Simulation results of a typical MIMO nonlinear system show that this method has a good ability of set points tracking and disturbance rejection. 展开更多
关键词 Support vector machine genetic algorithm nonlinear model predictive control Neural network Modeling
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THE EFFECTIVENESS OF GENETIC ALGORITHM IN CAPTURING CONDITIONAL NONLINEAR OPTIMAL PERTURBATION WITH PARAMETERIZATION “ON-OFF” SWITCHES INCLUDED BY A MODEL 被引量:2
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作者 方昌銮 郑琴 《Journal of Tropical Meteorology》 SCIE 2009年第1期13-19,共7页
In the typhoon adaptive observation based on conditional nonlinear optimal perturbation (CNOP), the ‘on-off’ switch caused by moist physical parameterization in prediction models prevents the conventional adjoint me... In the typhoon adaptive observation based on conditional nonlinear optimal perturbation (CNOP), the ‘on-off’ switch caused by moist physical parameterization in prediction models prevents the conventional adjoint method from providing correct gradient during the optimization process. To address this problem, the capture of CNOP, when the "on-off" switches are included in models, is treated as non-smooth optimization in this study, and the genetic algorithm (GA) is introduced. After detailed algorithm procedures are formulated using an idealized model with parameterization "on-off" switches in the forcing term, the impacts of "on-off" switches on the capture of CNOP are analyzed, and three numerical experiments are conducted to check the effectiveness of GA in capturing CNOP and to analyze the impacts of different initial populations on the optimization result. The result shows that GA is competent for the capture of CNOP in the context of the idealized model with parameterization ‘on-off’ switches in this study. Finally, the advantages and disadvantages of GA in capturing CNOP are analyzed in detail. 展开更多
关键词 dynamic meteorology typhoon adaptive observation genetic algorithm conditional nonlinear optimal perturbation switches moist physical parameterization
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Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force 被引量:1
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作者 Van-Truong Nguyen Dai-Nhan Duong +3 位作者 Dinh-Hieu Phan Thanh-Lam Bui Xiem HoangVan Phan Xuan Tan 《Computers, Materials & Continua》 SCIE EI 2024年第11期2337-2356,共20页
This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is design... This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions. 展开更多
关键词 Two-wheeled self-balancing robot nonlinear PD control external force genetic algorithm
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Evolving Neural Networks Using an Improved Genetic Algorithm 被引量:2
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作者 温秀兰 宋爱国 +1 位作者 段江海 王一清 《Journal of Southeast University(English Edition)》 EI CAS 2002年第4期367-369,共3页
A novel real coded improved genetic algorithm (GA) of training feed forward neural network is proposed to realize nonlinear system forecast. The improved GA employs a generation alternation model based the minimal gen... A novel real coded improved genetic algorithm (GA) of training feed forward neural network is proposed to realize nonlinear system forecast. The improved GA employs a generation alternation model based the minimal generation gap (MGP) and blend crossover operators (BLX α). Compared with traditional GA implemented in binary number, the processing time of the improved GA is faster because coding and decoding are unnecessary. In addition, it needn t set parameters such as the probability value of crossove... 展开更多
关键词 genetic algorithms neural network nonlinear forecasting
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基于遗传算法的被动式木窗材下料优化 被引量:1
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作者 任长清 武子棋 +2 位作者 闫杰 丁星尘 杨春梅 《森林工程》 北大核心 2025年第3期595-602,共8页
在定制化被动式木窗加工过程中,减少边框材下料过程中的原料浪费是降低成本的关键。为此,将该问题建模为一维下料问题,针对传统遗传算法中个体编码方式在迭代过程中容易导致切割模式被破坏和探索效率低下的问题,提出一种新的个体编码方... 在定制化被动式木窗加工过程中,减少边框材下料过程中的原料浪费是降低成本的关键。为此,将该问题建模为一维下料问题,针对传统遗传算法中个体编码方式在迭代过程中容易导致切割模式被破坏和探索效率低下的问题,提出一种新的个体编码方式,以保护进化过程中切割模式的完整性。同时,设计启发式策略和修正策略,用于个体修正和种群进化。仿真试验表明,在不同算例下,除末根外的原料平均利用率均可达到99%,且末根余料长度相较其他算法也有所提高。在2组企业的实际生产数据中,与企业现有软件相比,该算法不仅达到了理论下界,还在除末根外的平均利用率上分别达到99.49%和99.66%,优于企业软件的计算结果。该算法有助于降低成本,能为工程实践提供可靠的解决方案。 展开更多
关键词 一维下料问题 遗传算法 启发式算法 种群编码 可用剩余物
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基于改进遗传算法的动载荷识别研究 被引量:2
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作者 秦远田 唐甜 张炉平 《振动.测试与诊断》 北大核心 2025年第1期146-153,205,206,共10页
针对同时识别动载荷位置和大小中的矩阵病态问题,以及将反问题转化为正向识别的最值问题,采用自适应算法和非线性规划对遗传算法(genetic algorithm,简称GA)进行改进,将改进后的混合算法用于求解最值问题,得到动载荷参数。首先,建立频... 针对同时识别动载荷位置和大小中的矩阵病态问题,以及将反问题转化为正向识别的最值问题,采用自适应算法和非线性规划对遗传算法(genetic algorithm,简称GA)进行改进,将改进后的混合算法用于求解最值问题,得到动载荷参数。首先,建立频域识别模型,把理论值与测量值的差值的二范数最小化作为优化目标函数;其次,将该目标函数作为混合算法的评价函数来识别动载荷参数;最后,进行简支梁动载荷识别的仿真和实验,对比了正向识别和逆系统法,讨论了非线性规划代数和噪音对混合算法的影响。研究结果表明:正向识别避免了矩阵求逆病态问题;相比遗传算法和自适应遗传算法,所提出算法可同时更准确和稳定地识别多个动载荷参数,且抗噪性更强。 展开更多
关键词 动载荷识别 遗传算法 自适应算法 非线性规划
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基于遗传算法优化的SOFM神经网络生成测试数据集的方法
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作者 张静 于琪 《电脑与信息技术》 2024年第3期23-26,67,共5页
智能算法正成为软件测试领域新兴研究方向,运用智能算法生成复杂软件的测试数据已成为一种广受推崇的方法。采用基于遗传算法的技术生成测试数据,能够生成满足测试覆盖要求的少量测试数据。然而,对于生成大量测试数据集的情况来说,该方... 智能算法正成为软件测试领域新兴研究方向,运用智能算法生成复杂软件的测试数据已成为一种广受推崇的方法。采用基于遗传算法的技术生成测试数据,能够生成满足测试覆盖要求的少量测试数据。然而,对于生成大量测试数据集的情况来说,该方法并不适用。为了能够快速生成满足测试覆盖要求的数据集,提出一种基于遗传算法优化的自组织特征映射(SOFM)神经网络生成测试数据集的方法:首先,利用遗传算法的全局搜索能力,从海量数据中筛选出少量满足测试覆盖要求的代表性数据。接着,以这些遗传算法生成的测试数据为基础,结合SOFM神经网络强大的侧向联想能力,旨在生成大量满足测试覆盖要求的测试数据集。实验结果表明,该方法有效提高了测试数据集生成的效率。 展开更多
关键词 测试数据自动生成 自动化测试 测试覆盖率 遗传算法 sofm神经网络 测试数据集
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Analysis of Mine Ventilation Network Using Genetic Algorithm
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作者 谢贤平 冯长根 王海亮 《Journal of Beijing Institute of Technology》 EI CAS 1999年第2期33-38,共6页
Aim To determine the global optimal solution for a mine ventilation network under given network topology and airway characteristics. Methods\ The genetic algorithm was used to find the global optimal solution of the ... Aim To determine the global optimal solution for a mine ventilation network under given network topology and airway characteristics. Methods\ The genetic algorithm was used to find the global optimal solution of the network. Results\ A modified genetic algorithm is presented with its characteristics and principle. Instead of working on the conventional bit by bit operation, both the crossover and mutation operators are handled in real values by the proposed algorithms. To prevent the system from turning into a premature problem, the elitists from two groups of possible solutions are selected to reproduce the new populations. Conclusion\ The simulation results show that the method outperforms the conventional nonlinear programming approach whether from the viewpoint of the number of iterations required to find the optimum solutions or from the final solutions obtained. 展开更多
关键词 mine ventilation network nonlinear programming OPTIMIZATION genetic algorithms
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NEURAL NETWORK PREDICTIVE CONTROL WITH HIERARCHICAL GENETIC ALGORITHM
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作者 刘宝坤 王慧 李光泉 《Transactions of Tianjin University》 EI CAS 1998年第2期48-50,共3页
A kind of predictive control based on the neural network(NN) for nonlinear systems with time delay is addressed.The off line NN model is obtained by using hierarchical genetic algorithms (HGA) to train a sequence da... A kind of predictive control based on the neural network(NN) for nonlinear systems with time delay is addressed.The off line NN model is obtained by using hierarchical genetic algorithms (HGA) to train a sequence data of input and output.Output predictions are obtained by recursively mapping the NN model.The error rectification term is introduced into a performance function that is directly optimized while on line control so that it overcomes influences of the mismatched model and disturbances,etc.Simulations show the system has good dynamic responses and robustness. 展开更多
关键词 neural networks(NN) predictive control hierarchical genetic algorithms nonlinear system
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基于多染色体编码遗传算法的多星成像与数传耦合规划方法
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作者 刘佳 秦嘉豪 +2 位作者 李瀛搏 姚远 徐明 《宇航学报》 北大核心 2025年第3期616-630,共15页
针对对地观测卫星集群的大范围成像与数据下传耦合规划,提出了一种融合结构体编码与多层编码的多染色体遗传算法,实现了在复杂约束条件下对多个目标的同时优化。算法建立了成像与数传任务的约束满足模型,优化了卫星的拼幅成像与数据传... 针对对地观测卫星集群的大范围成像与数据下传耦合规划,提出了一种融合结构体编码与多层编码的多染色体遗传算法,实现了在复杂约束条件下对多个目标的同时优化。算法建立了成像与数传任务的约束满足模型,优化了卫星的拼幅成像与数据传输方案,考虑了卫星姿态机动能力与多个区域的全覆盖需求。此外,采用多层编码方式,有效解决了成像与数传任务解空间映射关系。基于遗传算法的全局搜索机制显著提高了任务规划的效率。试验验证表明,在3颗太阳同步轨道卫星星座中,该算法实现了对超过5个大范围区域的全覆盖,卫星的能源和数据存储未超出约束上限;同时,单次规划的运行时间小于15 min,验证了其实用性和高效性。该方法有效解决了复杂任务的耦合规划问题,具有较强的工程应用价值。 展开更多
关键词 多星测运控 多星任务规划 多染色体编码遗传算法 成像与数传任务耦合规划
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基于激光测距传感器的机械臂末端位姿误差校正方法
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作者 韩金利 尚卓 《传感技术学报》 北大核心 2025年第3期511-517,共7页
机械臂位姿校正由于误差考虑不充分,导致误差校正效果差,机械臂稳定性低,因此,提出基于激光测距传感器的机械臂末端位姿误差校正方法。该方法基于激光测距传感器原理,通过最小二乘算法,确定机械臂末端位姿误差,包括位置误差和姿态误差,... 机械臂位姿校正由于误差考虑不充分,导致误差校正效果差,机械臂稳定性低,因此,提出基于激光测距传感器的机械臂末端位姿误差校正方法。该方法基于激光测距传感器原理,通过最小二乘算法,确定机械臂末端位姿误差,包括位置误差和姿态误差,根据得到的误差,采用适应度改进的遗传算法,结合非线性传递特性分析机械臂的末端位姿,获得误差补偿,构建机械臂末端位姿的误差校正方法,实现机械臂末端位姿误差校正。经过实验证明,所提方法校正后的最高误差仅为0.13 cm,响应时间低于1.25 s,复杂度为0.30,并且振动区间较小,仅为[-0.03,0.02]m,说明该方法较为简洁,可以快速实现机械臂误差校正,降低了算法复杂度的同时,提高了机械臂的稳定性强。 展开更多
关键词 激光测距传感器 机械臂末端位姿 误差校正 最小二乘算法 遗传算法 非线性传递特性
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