This paper deals with dynamic airspace sectorization （DAS） problem by an improved genetic algorithm （iGA）. A graph model is first constructed that represents the airspace static structure. Then the DAS problem is ...This paper deals with dynamic airspace sectorization （DAS） problem by an improved genetic algorithm （iGA）. A graph model is first constructed that represents the airspace static structure. Then the DAS problem is formulated as a graph-partitioning problem to balance the sector workload under the premise of ensuring safety. In the iGA, multiple populations and hybrid coding are applied to determine the optimal sector number and airspace sectorization. The sector constraints are well satisfied by the improved genetic operators and protect zones. This method is validated by being applied to the airspace of North China in terms of three indexes, which are sector balancing index, coordination workload index and sector average flight time index. The improvement is obvious, as the sector balancing index is reduced by 16.5 %, the coordination workload index is reduced by 11.2 %, and the sector average flight time index is increased by 11.4 % during the peak-hour traffic.展开更多
Dynamic path planning is crucial for mobile robots to navigate successfully in unstructured envi-ronments.To achieve globally optimal path and real-time dynamic obstacle avoidance during the movement,a dynamic path pl...Dynamic path planning is crucial for mobile robots to navigate successfully in unstructured envi-ronments.To achieve globally optimal path and real-time dynamic obstacle avoidance during the movement,a dynamic path planning algorithm incorporating improved IB-RRT∗and deep reinforce-ment learning(DRL)is proposed.Firstly,an improved IB-RRT∗algorithm is proposed for global path planning by combining double elliptic subset sampling and probabilistic central circle target bi-as.Then,to tackle the slow response to dynamic obstacles and inadequate obstacle avoidance of tra-ditional local path planning algorithms,deep reinforcement learning is utilized to predict the move-ment trend of dynamic obstacles,leading to a dynamic fusion path planning.Finally,the simulation and experiment results demonstrate that the proposed improved IB-RRT∗algorithm has higher con-vergence speed and search efficiency compared with traditional Bi-RRT∗,Informed-RRT∗,and IB-RRT∗algorithms.Furthermore,the proposed fusion algorithm can effectively perform real-time obsta-cle avoidance and navigation tasks for mobile robots in unstructured environments.展开更多
An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,a...An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.展开更多
Pipeline isolation plugging robot (PIPR) is an important tool in pipeline maintenance operation. During the plugging process, the violent vibration will occur by the flow field, which can cause serious damage to the p...Pipeline isolation plugging robot (PIPR) is an important tool in pipeline maintenance operation. During the plugging process, the violent vibration will occur by the flow field, which can cause serious damage to the pipeline and PIPR. In this paper, we propose a dynamic regulating strategy to reduce the plugging-induced vibration by regulating the spoiler angle and plugging velocity. Firstly, the dynamic plugging simulation and experiment are performed to study the flow field changes during dynamic plugging. And the pressure difference is proposed to evaluate the degree of flow field vibration. Secondly, the mathematical models of pressure difference with plugging states and spoiler angles are established based on the extreme learning machine (ELM) optimized by improved sparrow search algorithm (ISSA). Finally, a modified Q-learning algorithm based on simulated annealing is applied to determine the optimal strategy for the spoiler angle and plugging velocity in real time. The results show that the proposed method can reduce the plugging-induced vibration by 19.9% and 32.7% on average, compared with single-regulating methods. This study can effectively ensure the stability of the plugging process.展开更多
A dynamic reconfiguration method for photovoltaic(PV)arrays based on an improved dung beetle algorithm(IDBO)to address the issue of PV array mismatch loss caused by partial shading conditions(PSCs)is proposed.To estab...A dynamic reconfiguration method for photovoltaic(PV)arrays based on an improved dung beetle algorithm(IDBO)to address the issue of PV array mismatch loss caused by partial shading conditions(PSCs)is proposed.To establish the output power-current(P-I)segmentation function for the total-cross-tied(TCT)PV array and the constraint function for the electrical switches,the IDBO algorithm was used to optimize both the P-I segmentation function and the electrical switch constraint function.IDBO is compared with algorithm-free reconfiguration and five other heuristic algorithms using two evaluation criteria:mismatch loss and power enhancement percentage,across six shading scenarios for 6x6 PV arrays.The irradiation distribution of PV arrays reconfigured by IDBO is also presented.The results show that IDBO effectively increases the output power of PV arrays and reduces mismatch loss.The output PV curves tend to exhibit a single peak,and the reconstruction results are superior to those obtained with the other methods.展开更多
Aiming at issues of life loss(LL)and overall energy efficiency(OEE)for battery energy storage system(BESS)in smoothing wind power fluctuations,a dynamic grouping control strategy of BESS for remaining useful life(RUL)...Aiming at issues of life loss(LL)and overall energy efficiency(OEE)for battery energy storage system(BESS)in smoothing wind power fluctuations,a dynamic grouping control strategy of BESS for remaining useful life(RUL)extension and OEE improvement is proposed.First,grid-connected power signals are obtained.Second,a model to optimize capacity allocation for three battery groups(BGs)in BESS is established considering LL and OEE,and it is solved by the designed improved beetle swarm antennae search algorithm.Then,a dynamic grouping method is proposed to dynamically adjust the grouping state of battery units(BUs)during operation to keep good sustainable dispatchability.Then,a double-layer power allocation approach coordinated with multi-principle is designed to reduce LL and improve OEE,and also keeps consistency of state of charge for BUs simultaneously.The upper layer achieves power allocation from BESS into the three BGs and power allocation method for each BG is determined.The lower layer,considering PCS efficiency under different working conditions,finishes power allocation from each BG into BUs inside it.Subsequently,an RUL evaluation model based on the swing door trend algorithm is built to shorten required calculation time.Finally,the proposed control strategy is simulated and results compared with other strategies demonstrate the proposed strategy acquires the longest RUL and highest OEE with smoothing wind power fluctuations effectively,which verifies its correctness and validity.展开更多
This paper proposes an improved Dynamic Bandwidth Allocation (DBA) algorithm for EPON, which combines static and traditional dynamic allocation schemes. Simulation result shows that the proposed algorithm may effectiv...This paper proposes an improved Dynamic Bandwidth Allocation (DBA) algorithm for EPON, which combines static and traditional dynamic allocation schemes. Simulation result shows that the proposed algorithm may effectively improve the performance of packet delay.展开更多
基金funded by the Joint Funds of the National Natural Science Foundation of China (61079001)
文摘This paper deals with dynamic airspace sectorization （DAS） problem by an improved genetic algorithm （iGA）. A graph model is first constructed that represents the airspace static structure. Then the DAS problem is formulated as a graph-partitioning problem to balance the sector workload under the premise of ensuring safety. In the iGA, multiple populations and hybrid coding are applied to determine the optimal sector number and airspace sectorization. The sector constraints are well satisfied by the improved genetic operators and protect zones. This method is validated by being applied to the airspace of North China in terms of three indexes, which are sector balancing index, coordination workload index and sector average flight time index. The improvement is obvious, as the sector balancing index is reduced by 16.5 %, the coordination workload index is reduced by 11.2 %, and the sector average flight time index is increased by 11.4 % during the peak-hour traffic.
基金the National Natural Science Foundation of China(No.61973275)。
文摘Dynamic path planning is crucial for mobile robots to navigate successfully in unstructured envi-ronments.To achieve globally optimal path and real-time dynamic obstacle avoidance during the movement,a dynamic path planning algorithm incorporating improved IB-RRT∗and deep reinforce-ment learning(DRL)is proposed.Firstly,an improved IB-RRT∗algorithm is proposed for global path planning by combining double elliptic subset sampling and probabilistic central circle target bi-as.Then,to tackle the slow response to dynamic obstacles and inadequate obstacle avoidance of tra-ditional local path planning algorithms,deep reinforcement learning is utilized to predict the move-ment trend of dynamic obstacles,leading to a dynamic fusion path planning.Finally,the simulation and experiment results demonstrate that the proposed improved IB-RRT∗algorithm has higher con-vergence speed and search efficiency compared with traditional Bi-RRT∗,Informed-RRT∗,and IB-RRT∗algorithms.Furthermore,the proposed fusion algorithm can effectively perform real-time obsta-cle avoidance and navigation tasks for mobile robots in unstructured environments.
基金supported by Foundation of key Laboratory of AI and Information Processing of Education Department of Guangxi(No.2022GXZDSY002)(Hechi University),Foundation of Guangxi Key Laboratory of Automobile Components and Vehicle Technology(Nos.2022GKLACVTKF04,2023GKLACVTZZ06)。
文摘An improved RRT∗algorithm,referred to as the AGP-RRT∗algorithm,is proposed to address the problems of poor directionality,long generated paths,and slow convergence speed in multi-axis robotic arm path planning.First,an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency.Second,a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to accelerate the search speed of the algorithm.Finally,the planning path is processed by pruning,removing redundant points and path smoothing fitting using cubic B-spline curves to improve the flexibility of the robotic arm.Through the six-axis robotic arm path planning simulation experiments on the MATLAB platform,the results show that the AGP-RRT∗algorithm reduces 87.34%in terms of the average running time and 40.39%in terms of the average path cost;Meanwhile,under two sets of complex environments A and B,the average running time of the AGP-RRT∗algorithm is shortened by 94.56%vs.95.37%,and the average path cost is reduced by 55.28%vs.47.82%,which proves the effectiveness of the AGP-RRT∗algorithm in improving the efficiency of multi-axis robotic arm path planning.
基金This work was financially supported by the National Natural Science Foundation of China(Grant No.51575528)the Science Foundation of China University of Petroleum,Beijing(No.2462022QEDX011).
文摘Pipeline isolation plugging robot (PIPR) is an important tool in pipeline maintenance operation. During the plugging process, the violent vibration will occur by the flow field, which can cause serious damage to the pipeline and PIPR. In this paper, we propose a dynamic regulating strategy to reduce the plugging-induced vibration by regulating the spoiler angle and plugging velocity. Firstly, the dynamic plugging simulation and experiment are performed to study the flow field changes during dynamic plugging. And the pressure difference is proposed to evaluate the degree of flow field vibration. Secondly, the mathematical models of pressure difference with plugging states and spoiler angles are established based on the extreme learning machine (ELM) optimized by improved sparrow search algorithm (ISSA). Finally, a modified Q-learning algorithm based on simulated annealing is applied to determine the optimal strategy for the spoiler angle and plugging velocity in real time. The results show that the proposed method can reduce the plugging-induced vibration by 19.9% and 32.7% on average, compared with single-regulating methods. This study can effectively ensure the stability of the plugging process.
基金Supported by the National Natural Science Foundation of China(61903291)the Key R&D Project in Shaanxi Province(2022GY-134)+1 种基金the Open Fund Project of New Energy Joint Laboratory of China Southern Power Grid Corporation in 2022(GDXNY2022KF01)the China Southern Power Grid Laboratory Open Subject Fund Project(0304002022030103GD00037).
文摘A dynamic reconfiguration method for photovoltaic(PV)arrays based on an improved dung beetle algorithm(IDBO)to address the issue of PV array mismatch loss caused by partial shading conditions(PSCs)is proposed.To establish the output power-current(P-I)segmentation function for the total-cross-tied(TCT)PV array and the constraint function for the electrical switches,the IDBO algorithm was used to optimize both the P-I segmentation function and the electrical switch constraint function.IDBO is compared with algorithm-free reconfiguration and five other heuristic algorithms using two evaluation criteria:mismatch loss and power enhancement percentage,across six shading scenarios for 6x6 PV arrays.The irradiation distribution of PV arrays reconfigured by IDBO is also presented.The results show that IDBO effectively increases the output power of PV arrays and reduces mismatch loss.The output PV curves tend to exhibit a single peak,and the reconstruction results are superior to those obtained with the other methods.
基金supported by the National Key Research and Development Program of China(No.2018YFE0122200)the National Natural Science Foundation of China(No.52077078)the Fundamental Research Funds for the Central Universities(No.2020MS090).
文摘Aiming at issues of life loss(LL)and overall energy efficiency(OEE)for battery energy storage system(BESS)in smoothing wind power fluctuations,a dynamic grouping control strategy of BESS for remaining useful life(RUL)extension and OEE improvement is proposed.First,grid-connected power signals are obtained.Second,a model to optimize capacity allocation for three battery groups(BGs)in BESS is established considering LL and OEE,and it is solved by the designed improved beetle swarm antennae search algorithm.Then,a dynamic grouping method is proposed to dynamically adjust the grouping state of battery units(BUs)during operation to keep good sustainable dispatchability.Then,a double-layer power allocation approach coordinated with multi-principle is designed to reduce LL and improve OEE,and also keeps consistency of state of charge for BUs simultaneously.The upper layer achieves power allocation from BESS into the three BGs and power allocation method for each BG is determined.The lower layer,considering PCS efficiency under different working conditions,finishes power allocation from each BG into BUs inside it.Subsequently,an RUL evaluation model based on the swing door trend algorithm is built to shorten required calculation time.Finally,the proposed control strategy is simulated and results compared with other strategies demonstrate the proposed strategy acquires the longest RUL and highest OEE with smoothing wind power fluctuations effectively,which verifies its correctness and validity.
文摘This paper proposes an improved Dynamic Bandwidth Allocation (DBA) algorithm for EPON, which combines static and traditional dynamic allocation schemes. Simulation result shows that the proposed algorithm may effectively improve the performance of packet delay.
