Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a ...Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a three-stage calibration method based on hybrid intelligent optimization is pro- posed for nonlinear camera models in this paper. The motivation is to improve the accuracy of the calibration process. In this approach, the stereo vision calibration is considered as an optimization problem that can be solved by the GA and PSO. The initial linear values can be obtained in the frost stage. Then in the second stage, two cameras＇ parameters are optimized separately. Finally, the in- tegrated optimized calibration of two models is obtained in the third stage. Direct linear transforma- tion （DLT）, GA and PSO are individually used in three stages. It is shown that the results of every stage can correctly find near-optimal solution and it can be used to initialize the next stage. Simula- tion analysis and actual experimental results indicate that this calibration method works more accu- rate and robust in noisy environment compared with traditional calibration methods. The proposed method can fulfill the requirements of robot sophisticated visual operation.展开更多
One of the main problems of machine learning and data mining is to develop a basic model with a few features,to reduce the algorithms involved in classification’s computational complexity.In this paper,the collection...One of the main problems of machine learning and data mining is to develop a basic model with a few features,to reduce the algorithms involved in classification’s computational complexity.In this paper,the collection of features has an essential importance in the classification process to be able minimize computational time,which decreases data size and increases the precision and effectiveness of specific machine learning activities.Due to its superiority to conventional optimization methods,several metaheuristics have been used to resolve FS issues.This is why hybrid metaheuristics help increase the search and convergence rate of the critical algorithms.A modern hybrid selection algorithm combining the two algorithms;the genetic algorithm(GA)and the Particle Swarm Optimization(PSO)to enhance search capabilities is developed in this paper.The efficacy of our proposed method is illustrated in a series of simulation phases,using the UCI learning array as a benchmark dataset.展开更多
In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwa...In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a nnmerical solution of a nonlinear optimal control problem （NOCP）. An energy performance index as a cost function, which should be minimized, was defmed. The resulting problem was a two-point boundary value problem （TPBVP）. A genetic algorithm （GA）, particle swarm optimization （PSO）, and ant colony optimization （ACO） algorithms were applied to solve the resulting TPBVP. Applying an Euler-Lagrange equation to the NOCP, a conjugate gradient penalty method was also adopted to solve the TPBVP. The problem of energetic environments, involving some energy sources, was discussed. Some near-optimal paths were found using a GA, PSO, and ACO algorithms. Finally, the problem of collision avoidance in an energetic environment was also taken into account.展开更多
This study concentrates of the new generation of the agile （AEOS）. AEOS is a key study object on management problems earth observation satellite in many countries because of its many advantages over non-agile satell...This study concentrates of the new generation of the agile （AEOS）. AEOS is a key study object on management problems earth observation satellite in many countries because of its many advantages over non-agile satellites. Hence, the mission planning and scheduling of AEOS is a popular research problem. This research investigates AEOS characteristics and establishes a mission planning model based on the working principle and constraints of AEOS as per analysis. To solve the scheduling issue of AEOS, several improved algorithms are developed. Simulation results suggest that these algorithms are effective.展开更多
This paper presents an efficient and reliable genetic algorithm (GA) based particle swarm optimization (PSO) tech- nique (hybrid GAPSO) for solving the economic dispatch (ED) problem in power systems. The non-linear c...This paper presents an efficient and reliable genetic algorithm (GA) based particle swarm optimization (PSO) tech- nique (hybrid GAPSO) for solving the economic dispatch (ED) problem in power systems. The non-linear characteristics of the generators, such as prohibited operating zones, ramp rate limits and non-smooth cost functions of the practical generator operation are considered. The proposed hybrid algorithm is demonstrated for three different systems and the performance is compared with the GA and PSO in terms of solution quality and computation efficiency. Comparison of results proved that the proposed algo- rithm can obtain higher quality solutions efficiently in ED problems. A comprehensive software package is developed using MATLAB.展开更多
文摘Accurate stereo vision calibration is a preliminary step towards high-precision visual posi- tioning of robot. Combining with the characteristics of genetic algorithm （GA） and particle swarm optimization （PSO）, a three-stage calibration method based on hybrid intelligent optimization is pro- posed for nonlinear camera models in this paper. The motivation is to improve the accuracy of the calibration process. In this approach, the stereo vision calibration is considered as an optimization problem that can be solved by the GA and PSO. The initial linear values can be obtained in the frost stage. Then in the second stage, two cameras＇ parameters are optimized separately. Finally, the in- tegrated optimized calibration of two models is obtained in the third stage. Direct linear transforma- tion （DLT）, GA and PSO are individually used in three stages. It is shown that the results of every stage can correctly find near-optimal solution and it can be used to initialize the next stage. Simula- tion analysis and actual experimental results indicate that this calibration method works more accu- rate and robust in noisy environment compared with traditional calibration methods. The proposed method can fulfill the requirements of robot sophisticated visual operation.
基金This work was partially supported by the National Natural Science Foundation of China(61876089,61876185,61902281,61375121)the Opening Project of Jiangsu Key Laboratory of Data Science and Smart Software(No.2019DS301)+1 种基金the Engineering Research Center of Digital Forensics,Ministry of Education,the Key Research and Development Program of Jiangsu Province(BE2020633)the Priority Academic Program Development of Jiangsu Higher Education Institutions。
文摘One of the main problems of machine learning and data mining is to develop a basic model with a few features,to reduce the algorithms involved in classification’s computational complexity.In this paper,the collection of features has an essential importance in the classification process to be able minimize computational time,which decreases data size and increases the precision and effectiveness of specific machine learning activities.Due to its superiority to conventional optimization methods,several metaheuristics have been used to resolve FS issues.This is why hybrid metaheuristics help increase the search and convergence rate of the critical algorithms.A modern hybrid selection algorithm combining the two algorithms;the genetic algorithm(GA)and the Particle Swarm Optimization(PSO)to enhance search capabilities is developed in this paper.The efficacy of our proposed method is illustrated in a series of simulation phases,using the UCI learning array as a benchmark dataset.
文摘In this paper, an underwater vehicle was modeled with six dimensional nonlinear equations of motion, controlled by DC motors in all degrees of freedom. Near-optimal trajectories in an energetic environment for underwater vehicles were computed using a nnmerical solution of a nonlinear optimal control problem （NOCP）. An energy performance index as a cost function, which should be minimized, was defmed. The resulting problem was a two-point boundary value problem （TPBVP）. A genetic algorithm （GA）, particle swarm optimization （PSO）, and ant colony optimization （ACO） algorithms were applied to solve the resulting TPBVP. Applying an Euler-Lagrange equation to the NOCP, a conjugate gradient penalty method was also adopted to solve the TPBVP. The problem of energetic environments, involving some energy sources, was discussed. Some near-optimal paths were found using a GA, PSO, and ACO algorithms. Finally, the problem of collision avoidance in an energetic environment was also taken into account.
基金supported by the National Natural Science Foundation of China(7127106671171065+1 种基金71202168)the Natural Science Foundation of Heilongjiang Province(GC13D506)
文摘This study concentrates of the new generation of the agile （AEOS）. AEOS is a key study object on management problems earth observation satellite in many countries because of its many advantages over non-agile satellites. Hence, the mission planning and scheduling of AEOS is a popular research problem. This research investigates AEOS characteristics and establishes a mission planning model based on the working principle and constraints of AEOS as per analysis. To solve the scheduling issue of AEOS, several improved algorithms are developed. Simulation results suggest that these algorithms are effective.
文摘This paper presents an efficient and reliable genetic algorithm (GA) based particle swarm optimization (PSO) tech- nique (hybrid GAPSO) for solving the economic dispatch (ED) problem in power systems. The non-linear characteristics of the generators, such as prohibited operating zones, ramp rate limits and non-smooth cost functions of the practical generator operation are considered. The proposed hybrid algorithm is demonstrated for three different systems and the performance is compared with the GA and PSO in terms of solution quality and computation efficiency. Comparison of results proved that the proposed algo- rithm can obtain higher quality solutions efficiently in ED problems. A comprehensive software package is developed using MATLAB.
