According to the characteristic and the requirement of multipath planning, a new multipath planning method is proposed based on network. This method includes two steps： the construction of network and multipath searc...According to the characteristic and the requirement of multipath planning, a new multipath planning method is proposed based on network. This method includes two steps： the construction of network and multipath searching. The construction of network proceeds in three phases： the skeleton extraction of the configuration space, the judgment of the cross points in the skeleton and how to link the cross points to form a network. Multipath searching makes use of the network and iterative penalty method （IPM） to plan multi-paths, and adjusts the planar paths to satisfy the requirement of maneuverability of unmanned aerial vehicle （UAV）. In addition, a new height planning method is proposed to deal with the height planning of 3D route. The proposed algorithm can find multiple paths automatically according to distribution of terrain and threat areas with high efficiency. The height planning can make 3D route following the terrain. The simulation experiment illustrates the feasibility of the proposed method.展开更多
An integrated approach to generation of precedence relations and precedencegraphs for assembly sequence planning is presented, which contains more assembly flexibility. Theapproach involves two stages. Based on the as...An integrated approach to generation of precedence relations and precedencegraphs for assembly sequence planning is presented, which contains more assembly flexibility. Theapproach involves two stages. Based on the assembly model, the components in the assembly can bedivided into partially constrained components and completely con-strained components in the firststage, and then geometric precedence relation for every component is generated automatically.According to the result of the first stage, the second stage determines and constructs allprecedence graphs. The algorithms of these two stages proposed are verified by two assemblyexamples.展开更多
Disassembly sequence planning is an important step of mechanical maintenance. This article presents an integrated study about the generation and optimizing algorithm of the disassembly sequence. Mechanical products ar...Disassembly sequence planning is an important step of mechanical maintenance. This article presents an integrated study about the generation and optimizing algorithm of the disassembly sequence. Mechanical products are divided into two categories of components and connectors. The article uses component-joint graph to represent assembly constraints, including the incidence constraints are represented by incidence matrix and the interference constraints are represented by interference constraints. The inspiring factor and pheromone matrix are calculated according to assembly constraints. Then the ant generates its own disassembly sequences one by one and updates the inspiring factor and pheromone matrix. After all iterations, the best disassembly sequence planning of components and connectors are given. Finally, an application instance of the disassembly sequence of the jack is presented to illustrate the validity of this method.展开更多
基金supported by the National High Technology Research and Development Program of China(2007AA12Z166)
文摘According to the characteristic and the requirement of multipath planning, a new multipath planning method is proposed based on network. This method includes two steps： the construction of network and multipath searching. The construction of network proceeds in three phases： the skeleton extraction of the configuration space, the judgment of the cross points in the skeleton and how to link the cross points to form a network. Multipath searching makes use of the network and iterative penalty method （IPM） to plan multi-paths, and adjusts the planar paths to satisfy the requirement of maneuverability of unmanned aerial vehicle （UAV）. In addition, a new height planning method is proposed to deal with the height planning of 3D route. The proposed algorithm can find multiple paths automatically according to distribution of terrain and threat areas with high efficiency. The height planning can make 3D route following the terrain. The simulation experiment illustrates the feasibility of the proposed method.
基金This project is supported by National Natural Science Foundation of China(No.59990470,No.59725514,No.59985004)and Robotics Laboratory,Chinese Academy of Sciences Foundation(No.RL200006)
文摘An integrated approach to generation of precedence relations and precedencegraphs for assembly sequence planning is presented, which contains more assembly flexibility. Theapproach involves two stages. Based on the assembly model, the components in the assembly can bedivided into partially constrained components and completely con-strained components in the firststage, and then geometric precedence relation for every component is generated automatically.According to the result of the first stage, the second stage determines and constructs allprecedence graphs. The algorithms of these two stages proposed are verified by two assemblyexamples.
文摘Disassembly sequence planning is an important step of mechanical maintenance. This article presents an integrated study about the generation and optimizing algorithm of the disassembly sequence. Mechanical products are divided into two categories of components and connectors. The article uses component-joint graph to represent assembly constraints, including the incidence constraints are represented by incidence matrix and the interference constraints are represented by interference constraints. The inspiring factor and pheromone matrix are calculated according to assembly constraints. Then the ant generates its own disassembly sequences one by one and updates the inspiring factor and pheromone matrix. After all iterations, the best disassembly sequence planning of components and connectors are given. Finally, an application instance of the disassembly sequence of the jack is presented to illustrate the validity of this method.
