Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programm...Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.展开更多
Based on “One Belt and One Road”, this paper studies the path selection of multimodal transport by using the method of multi-objective mixed integer programming. Therefore, this paper studies the factors of transpor...Based on “One Belt and One Road”, this paper studies the path selection of multimodal transport by using the method of multi-objective mixed integer programming. Therefore, this paper studies the factors of transportation time, transportation cost and transportation safety performance, and establishes a mathematical model. In addition, the method of multi-objective mixed integer programming is used to comprehensively consider the different emphasis and differences of customers on cargo transportation. Then we use planning tools of Microsoft Excel to solve path selection and to determine whether the chosen path is economical and reliable. Finally, a relatively complex road network is built as an example to verify the accuracy of this planning method.展开更多
The flexible contact and machining with wide strip are two prominent advantages for the robotic belt grinding system, which can be widely used to improve the surface quality and machining efficiency while finishing th...The flexible contact and machining with wide strip are two prominent advantages for the robotic belt grinding system, which can be widely used to improve the surface quality and machining efficiency while finishing the workpieces with sculptured surfaces. There lacks research on grinding path planning with the constraint of curvature. With complicated contact between the contact wheel and the workpiece, the grinding paths for robot can be obtained by the theory of contact kinematics. The grinding process must satisfy the universal demands of the belt grinding technologies, and the most important thing is to make the contact wheel conform to the local geometrical features on the contact area. For the local surfaces with small curvature, the curve length between the neighboring cutting locations becomes longer to ensure processing efficiency. Otherwise, for the local areas with large curvature, the curve length becomes shorter to ensure machining accuracy. A series of planes are created to intersect with the target surface to be ground, and the corresponding sectional profile curves are obtained. For each curve, the curve length between the neighboring cutting points is optimized by inserting a cutter location at the local area with large curvatures. A method of generating the grinding paths including curve length spacing optimization is set up. The validity is completely approved by the off-line simulation, and during the grinding experiments with the method, the quality of surface is improved. The path planning method provides a theoretical support for the smooth and accuracy path of robotic surface grinding.展开更多
For low-speed underwater vehicles, the ocean currents has a great influence on them, and the changes in ocean currents is complex and continuous, thus whose impact must be taken into consideration in the path planning...For low-speed underwater vehicles, the ocean currents has a great influence on them, and the changes in ocean currents is complex and continuous, thus whose impact must be taken into consideration in the path planning. There are still lack of authoritative indicator and method for the cooperating path planning. The calculation of the voyage time is a difficult problem in the time-varying ocean, for the existing methods of the cooperating path planning, the computation time will increase exponentially as the autonomous underwater vehicle（AUV） counts increase, rendering them unfeasible. A collaborative path planning method is presehted for multi-AUV under the influence of time-varying ocean currents based on the dynamic programming algorithm. Each AUV cooperates with the one who has the longest estimated time of sailing, enabling the arrays of AUV to get their common goal in the shortest time with minimum timedifference. At the same time, they could avoid the obstacles along the way to the target. Simulation results show that the proposed method has a promising applicability.展开更多
Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the...Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.展开更多
According to the multi-project and program management theory, this paper analyzes the program generation principle and establishes a program based on progress goals. On the basis of the present situation of calculatio...According to the multi-project and program management theory, this paper analyzes the program generation principle and establishes a program based on progress goals. On the basis of the present situation of calculation of penalty for delay of the bidding section construction period with the critical path method, we studied the effects of contractor-induced delay of the bidding section construction period in detail, including the effects on the construction period of the bidding section itself, the earliest start times of the next bidding section and other subsequent bidding sections, and the construction period of the program, and then constructed a penalty model for delay of the bidding section construction period from the perspective of programs. Using the penalty model, we conducted a practical analysis of penalty for delay of the construction period of the Baoying station program in the South-to-North Water Diversion Project. The model can help determine the amount of penalty for delay of the construction period in bidding sections scientifically and reasonably,展开更多
Due to the rigorous fiscal terms and huge potential risk of risk service contracts,optimizing oil production paths is one of the main challenges in designing oilfield development plans.In this paper,an oil production ...Due to the rigorous fiscal terms and huge potential risk of risk service contracts,optimizing oil production paths is one of the main challenges in designing oilfield development plans.In this paper,an oil production path optimization model is developed to maximize economic benefits within constraints of technology factors and oil contracts.This analysis describes the effects of risk service contract terms on parameters of inputs and outputs and quantifies the relationships between production and production time,revenues,investment and costs.An oil service development and production project is illustrated in which the optimal production path under its own geological conditions and contract terms is calculated.The influences of oil price,service fees per barrel and operating costs on the optimal production have been examined by sensitivity analysis.The results show that the oil price has the largest impact on the optimal production,which is negatively related to oil price and positively related to service fees per barrel and operating costs.展开更多
A parallel version of the traditional grid based cost-to-go function generation algorithm used in robot path planning is introduced. The process takes advantage of the spatial layout of an occupancy grid by concurrent...A parallel version of the traditional grid based cost-to-go function generation algorithm used in robot path planning is introduced. The process takes advantage of the spatial layout of an occupancy grid by concurrently calculating the next wave front of grid cells usually evaluated sequentially in traditional dynamic programming algorithms. The algorithm offers an order of magnitude increase in run time for highly obstacle dense worst-case environments. Efficient path planning of real world agents can greatly increase their accuracy and responsiveness. The process and theoretical analysis are covered before the results of practical testing are discussed.展开更多
Let be an undirected graph. The maximum cycle packing problem in G then is to find a collection of edge-disjoint cycles C<sub>i</sup>in G such that s is maximum. In general, the maximum cycle packing probl...Let be an undirected graph. The maximum cycle packing problem in G then is to find a collection of edge-disjoint cycles C<sub>i</sup>in G such that s is maximum. In general, the maximum cycle packing problem is NP-hard. In this paper, it is shown for even graphs that if such a collection satisfies the condition that it minimizes the quantityon the set of all edge-disjoint cycle collections, then it is a maximum cycle packing. The paper shows that the determination of such a packing can be solved by a dynamic programming approach. For its solution, an-shortest path procedure on an appropriate acyclic networkis presented. It uses a particular monotonous node potential.展开更多
We present a novel approach for computing a shortest path in a mixed fuzzy network, network having various fuzzy arc lengths. First, we develop a new technique for the addition of various fuzzy numbers in a path using...We present a novel approach for computing a shortest path in a mixed fuzzy network, network having various fuzzy arc lengths. First, we develop a new technique for the addition of various fuzzy numbers in a path using -cuts. Then, we present a dynamic programming method for finding a shortest path in the network. For this, we apply a recently proposed distance function for comparison of fuzzy numbers. Four examples are worked out to illustrate the applicability of the proposed approach as compared to two other methods in the literature as well as demonstrate the novel feature offered by our algorithm to find a fuzzy shortest path in mixed fuzzy networks with various settings for the fuzzy arc lengths.展开更多
文摘Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.
文摘Based on “One Belt and One Road”, this paper studies the path selection of multimodal transport by using the method of multi-objective mixed integer programming. Therefore, this paper studies the factors of transportation time, transportation cost and transportation safety performance, and establishes a mathematical model. In addition, the method of multi-objective mixed integer programming is used to comprehensively consider the different emphasis and differences of customers on cargo transportation. Then we use planning tools of Microsoft Excel to solve path selection and to determine whether the chosen path is economical and reliable. Finally, a relatively complex road network is built as an example to verify the accuracy of this planning method.
文摘The flexible contact and machining with wide strip are two prominent advantages for the robotic belt grinding system, which can be widely used to improve the surface quality and machining efficiency while finishing the workpieces with sculptured surfaces. There lacks research on grinding path planning with the constraint of curvature. With complicated contact between the contact wheel and the workpiece, the grinding paths for robot can be obtained by the theory of contact kinematics. The grinding process must satisfy the universal demands of the belt grinding technologies, and the most important thing is to make the contact wheel conform to the local geometrical features on the contact area. For the local surfaces with small curvature, the curve length between the neighboring cutting locations becomes longer to ensure processing efficiency. Otherwise, for the local areas with large curvature, the curve length becomes shorter to ensure machining accuracy. A series of planes are created to intersect with the target surface to be ground, and the corresponding sectional profile curves are obtained. For each curve, the curve length between the neighboring cutting points is optimized by inserting a cutter location at the local area with large curvatures. A method of generating the grinding paths including curve length spacing optimization is set up. The validity is completely approved by the off-line simulation, and during the grinding experiments with the method, the quality of surface is improved. The path planning method provides a theoretical support for the smooth and accuracy path of robotic surface grinding.
基金supported by the National Natural Science Foundation of China(5110917951179156+2 种基金5137917661473233)the Natural Science Basic Research Plan in Shaanxi Province of China(2014JQ8330)
文摘For low-speed underwater vehicles, the ocean currents has a great influence on them, and the changes in ocean currents is complex and continuous, thus whose impact must be taken into consideration in the path planning. There are still lack of authoritative indicator and method for the cooperating path planning. The calculation of the voyage time is a difficult problem in the time-varying ocean, for the existing methods of the cooperating path planning, the computation time will increase exponentially as the autonomous underwater vehicle（AUV） counts increase, rendering them unfeasible. A collaborative path planning method is presehted for multi-AUV under the influence of time-varying ocean currents based on the dynamic programming algorithm. Each AUV cooperates with the one who has the longest estimated time of sailing, enabling the arrays of AUV to get their common goal in the shortest time with minimum timedifference. At the same time, they could avoid the obstacles along the way to the target. Simulation results show that the proposed method has a promising applicability.
基金supported by National Hi-tech Research and Development Program of China (863 Program, Grant No. 2007AA04Z2443)State Key Laboratory for Man ufacturing Systems Engineering of Xi’an Jiaotong University of China
文摘Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.
基金supported by the National Science and Technology Plan of China (Major Project of the Eleventh Five-Year Plan, Grant No. 2006BAB04A13)the Philosophy and Social Science Fund of Education Department of Jiangsu Province (Grant No. 07SJD630006)+1 种基金the Third Key Discipline (Techno-Economics and Management) of the Project 211the Key Disciplines of Jiangsu Province (Engineering and Project Management)
文摘According to the multi-project and program management theory, this paper analyzes the program generation principle and establishes a program based on progress goals. On the basis of the present situation of calculation of penalty for delay of the bidding section construction period with the critical path method, we studied the effects of contractor-induced delay of the bidding section construction period in detail, including the effects on the construction period of the bidding section itself, the earliest start times of the next bidding section and other subsequent bidding sections, and the construction period of the program, and then constructed a penalty model for delay of the bidding section construction period from the perspective of programs. Using the penalty model, we conducted a practical analysis of penalty for delay of the construction period of the Baoying station program in the South-to-North Water Diversion Project. The model can help determine the amount of penalty for delay of the construction period in bidding sections scientifically and reasonably,
基金Funding for this work was provided by the Major Project from the National Social Science Foundation of China through research on replacement strategies for overseas oil and gas resources based on the perspective of China’s petroleum security under the project number 11&ZD164
文摘Due to the rigorous fiscal terms and huge potential risk of risk service contracts,optimizing oil production paths is one of the main challenges in designing oilfield development plans.In this paper,an oil production path optimization model is developed to maximize economic benefits within constraints of technology factors and oil contracts.This analysis describes the effects of risk service contract terms on parameters of inputs and outputs and quantifies the relationships between production and production time,revenues,investment and costs.An oil service development and production project is illustrated in which the optimal production path under its own geological conditions and contract terms is calculated.The influences of oil price,service fees per barrel and operating costs on the optimal production have been examined by sensitivity analysis.The results show that the oil price has the largest impact on the optimal production,which is negatively related to oil price and positively related to service fees per barrel and operating costs.
文摘A parallel version of the traditional grid based cost-to-go function generation algorithm used in robot path planning is introduced. The process takes advantage of the spatial layout of an occupancy grid by concurrently calculating the next wave front of grid cells usually evaluated sequentially in traditional dynamic programming algorithms. The algorithm offers an order of magnitude increase in run time for highly obstacle dense worst-case environments. Efficient path planning of real world agents can greatly increase their accuracy and responsiveness. The process and theoretical analysis are covered before the results of practical testing are discussed.
文摘Let be an undirected graph. The maximum cycle packing problem in G then is to find a collection of edge-disjoint cycles C<sub>i</sup>in G such that s is maximum. In general, the maximum cycle packing problem is NP-hard. In this paper, it is shown for even graphs that if such a collection satisfies the condition that it minimizes the quantityon the set of all edge-disjoint cycle collections, then it is a maximum cycle packing. The paper shows that the determination of such a packing can be solved by a dynamic programming approach. For its solution, an-shortest path procedure on an appropriate acyclic networkis presented. It uses a particular monotonous node potential.
文摘We present a novel approach for computing a shortest path in a mixed fuzzy network, network having various fuzzy arc lengths. First, we develop a new technique for the addition of various fuzzy numbers in a path using -cuts. Then, we present a dynamic programming method for finding a shortest path in the network. For this, we apply a recently proposed distance function for comparison of fuzzy numbers. Four examples are worked out to illustrate the applicability of the proposed approach as compared to two other methods in the literature as well as demonstrate the novel feature offered by our algorithm to find a fuzzy shortest path in mixed fuzzy networks with various settings for the fuzzy arc lengths.
