目前,水下自主机器鱼已经被应用于对水域多个目标点依次进行水质监测,因此有必要研究多个目标点的路径规划。针对遍历多个目标点的路径规划问题,提出一种Multi-Direction Fast Marching(MDFM)方法和遗传算法相结合的路径规划方法。该方...目前,水下自主机器鱼已经被应用于对水域多个目标点依次进行水质监测,因此有必要研究多个目标点的路径规划。针对遍历多个目标点的路径规划问题,提出一种Multi-Direction Fast Marching(MDFM)方法和遗传算法相结合的路径规划方法。该方法首先使用MDFM方法对工作站和多个目标点两两之间进行路径规划,然后使用遗传算法规划出遍历所有点的最短路径,最后通过仿真实验验证算法的可行性。展开更多
In automatic visual inspection, the object image subspace should be segmented and matched quickly so that the affine relationship can be built between the template image and the sample image. When the interference is ...In automatic visual inspection, the object image subspace should be segmented and matched quickly so that the affine relationship can be built between the template image and the sample image. When the interference is strong and the illumination is uneven, for example in an industrial application, this can make it difficult to obtain an objects subspace quickly and accurately in real-time. In this paper, a novel strategy is proposed to adopt discrete radial search paths instead of searching all points in an image. Therefore, the searching time can be substantially reduced. In order to reduce the influence coming from the industrial environment, the paper proposes another method that is local energy level set segmentation, which can locate the object subspace more efficiently and accurately. The detection of ＂crown caps＂ is presented as an example in this paper. Detection effects and computing time are compared between several detection methods, and the mechanisms of inspection have also been analyzed.展开更多
The effects of various cooling paths on uniformity of through-thickness microstructure and mechanical properties of X80 pipeline steel of 22.0 mm in thickness were studied. The finite difference method was employed to...The effects of various cooling paths on uniformity of through-thickness microstructure and mechanical properties of X80 pipeline steel of 22.0 mm in thickness were studied. The finite difference method was employed to calculate the temperature field during cooling. It was confirmed by the experimental result and temperature field calculation that the optimizing process was achieved by the ultra-fast cooling with medium cooling capacity（cooling rate of ＊23 K/s）followed by ultimate cooling capacity（cooling rate of ＊50 K/s）. After optimization, the experimental steel displayed much uniform microstructure and the deviation of through-thickness hardness was controlled within 20 HV. In addition,the yield strength, tensile strength and elongation of the experimental steel were 621, 728 MPa and 21.5%, respectively,meeting the requirements of the API standard for X80 pipeline steels.展开更多
针对现有起重机路径规划效率低的问题,提出一种基于改进快速探索随机树(rapidly-exploring random tree,RRT)的起重机路径规划算法。将广义距离替代经典RRT中欧氏距离,解决多自由度(degree of freedom,DOF)下RRT中距离的定义不明确的问...针对现有起重机路径规划效率低的问题,提出一种基于改进快速探索随机树(rapidly-exploring random tree,RRT)的起重机路径规划算法。将广义距离替代经典RRT中欧氏距离,解决多自由度(degree of freedom,DOF)下RRT中距离的定义不明确的问题。基于降维概念的胞元法,将C构型空间(configuration space,C空间)划分为大小相等的单元格,解决经典RRT中最近邻搜索(nearest neighbor search,NNS)在计算时间和资源方面效率低的问题。实验结果表明:在相同实验条件下,改进的RRT算法比双向RRT算法计算时间减少89.5%,能提高计算时间效率和提升搜寻路径质量,具有一定的参考价值。展开更多
由于水下作业环境的复杂性和不确定性,要在复杂水下环境中完成资源开发,机械臂的路径规划需要加入实时避障。针对传统快速拓展随机树(Rapidly-exploring Random Trees,RRT)算法在对于复杂未知环境中水下机械臂自适应路径规划存在采样速...由于水下作业环境的复杂性和不确定性,要在复杂水下环境中完成资源开发,机械臂的路径规划需要加入实时避障。针对传统快速拓展随机树(Rapidly-exploring Random Trees,RRT)算法在对于复杂未知环境中水下机械臂自适应路径规划存在采样速率低、收敛速率慢、迭代时间长等问题,提出一种融合人工势场和A算法的改进RRT算法。首先利用人工势场引导RRT节点扩展,然后结合A算法进行启发式策略路径优化。实验结果验证了改进算法能更高效地完成水下路径规划和实时避障。展开更多
文摘目前,水下自主机器鱼已经被应用于对水域多个目标点依次进行水质监测,因此有必要研究多个目标点的路径规划。针对遍历多个目标点的路径规划问题,提出一种Multi-Direction Fast Marching(MDFM)方法和遗传算法相结合的路径规划方法。该方法首先使用MDFM方法对工作站和多个目标点两两之间进行路径规划,然后使用遗传算法规划出遍历所有点的最短路径,最后通过仿真实验验证算法的可行性。
文摘In automatic visual inspection, the object image subspace should be segmented and matched quickly so that the affine relationship can be built between the template image and the sample image. When the interference is strong and the illumination is uneven, for example in an industrial application, this can make it difficult to obtain an objects subspace quickly and accurately in real-time. In this paper, a novel strategy is proposed to adopt discrete radial search paths instead of searching all points in an image. Therefore, the searching time can be substantially reduced. In order to reduce the influence coming from the industrial environment, the paper proposes another method that is local energy level set segmentation, which can locate the object subspace more efficiently and accurately. The detection of ＂crown caps＂ is presented as an example in this paper. Detection effects and computing time are compared between several detection methods, and the mechanisms of inspection have also been analyzed.
基金supported by the National Natural Science Foundation of China(No.51234002)the Fundamental Research Funds for the Central Universities(N130407001)
文摘The effects of various cooling paths on uniformity of through-thickness microstructure and mechanical properties of X80 pipeline steel of 22.0 mm in thickness were studied. The finite difference method was employed to calculate the temperature field during cooling. It was confirmed by the experimental result and temperature field calculation that the optimizing process was achieved by the ultra-fast cooling with medium cooling capacity（cooling rate of ＊23 K/s）followed by ultimate cooling capacity（cooling rate of ＊50 K/s）. After optimization, the experimental steel displayed much uniform microstructure and the deviation of through-thickness hardness was controlled within 20 HV. In addition,the yield strength, tensile strength and elongation of the experimental steel were 621, 728 MPa and 21.5%, respectively,meeting the requirements of the API standard for X80 pipeline steels.
文摘针对现有起重机路径规划效率低的问题,提出一种基于改进快速探索随机树(rapidly-exploring random tree,RRT)的起重机路径规划算法。将广义距离替代经典RRT中欧氏距离,解决多自由度(degree of freedom,DOF)下RRT中距离的定义不明确的问题。基于降维概念的胞元法,将C构型空间(configuration space,C空间)划分为大小相等的单元格,解决经典RRT中最近邻搜索(nearest neighbor search,NNS)在计算时间和资源方面效率低的问题。实验结果表明:在相同实验条件下,改进的RRT算法比双向RRT算法计算时间减少89.5%,能提高计算时间效率和提升搜寻路径质量,具有一定的参考价值。
文摘由于水下作业环境的复杂性和不确定性,要在复杂水下环境中完成资源开发,机械臂的路径规划需要加入实时避障。针对传统快速拓展随机树(Rapidly-exploring Random Trees,RRT)算法在对于复杂未知环境中水下机械臂自适应路径规划存在采样速率低、收敛速率慢、迭代时间长等问题,提出一种融合人工势场和A算法的改进RRT算法。首先利用人工势场引导RRT节点扩展,然后结合A算法进行启发式策略路径优化。实验结果验证了改进算法能更高效地完成水下路径规划和实时避障。
