This paper presents an adaptive path planner for unmanned aerial vehicles （UAVs） to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory cap...This paper presents an adaptive path planner for unmanned aerial vehicles （UAVs） to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory capability, maneuverability, and flight velocity limit. On the basis of a novel adaptability-involved problem statement, bi-level programming （BLP） and variable planning step techniques are introduced to model the necessary path planning components and then an adaptive path planner is developed for the purpose of adaptation and optimization. Additionally, both probabilistic-risk-based obstacle avoidance and performance limits are described as path search constraints to guarantee path safety and navigability. A discrete-search-based path planning solution, embedded with four optimization strategies, is especially designed for the planner to efficiently generate optimal flight paths in complex operational spaces, within which different surface-to-air missiles （SAMs） are deployed. Simulation results in challenging and stochastic scenarios firstly demonstrate the effectiveness and efficiency of the proposed planner, and then verify its great adaptability and relative stability when planning optimal paths for a UAV with changing or fluctuating performances.展开更多
Considering the decision-making variables of the capacities of branch roads and the optimization targets of lowering the saturation of arterial roads and the reconstruction expense of branch roads, the bi-level progra...Considering the decision-making variables of the capacities of branch roads and the optimization targets of lowering the saturation of arterial roads and the reconstruction expense of branch roads, the bi-level programming model for reconstructing the branch roads was set up. The upper level model was for determining the enlarged capacities of the branch roads, and the lower level model was for calculating the flows of road sections via the user equilibrium traffic assignment method. The genetic algorithm for solving the bi-level model was designed to obtain the reconstruction capacities of the branch roads. The results show that by the bi-level model and its algorithm, the optimum scheme of urban branch roads reconstruction can be gained, which reduces the saturation of arterial roads apparently, and alleviates traffic congestion. In the data analysis the arterial saturation decreases from 1.100 to 0.996, which verifies the micro-circulation transportation's function of urban branch road network.展开更多
This paper proposes an adaptive chaos quantum honey bee algorithm （CQHBA） for solving chance-constrained program- ming in random fuzzy environment based on random fuzzy simulations. Random fuzzy simulation is design...This paper proposes an adaptive chaos quantum honey bee algorithm （CQHBA） for solving chance-constrained program- ming in random fuzzy environment based on random fuzzy simulations. Random fuzzy simulation is designed to estimate the chance of a random fuzzy event and the optimistic value to a random fuzzy variable. In CQHBA, each bee carries a group of quantum bits representing a solution. Chaos optimization searches space around the selected best-so-far food source. In the marriage process, random interferential discrete quantum crossover is done between selected drones and the queen. Gaussian quantum mutation is used to keep the diversity of whole population. New methods of computing quantum rotation angles are designed based on grads. A proof of con- vergence for CQHBA is developed and a theoretical analysis of the computational overhead for the algorithm is presented. Numerical examples are presented to demonstrate its superiority in robustness and stability, efficiency of computational complexity, success rate, and accuracy of solution quality. CQHBA is manifested to be highly robust under various conditions and capable of handling most random fuzzy programmings with any parameter settings, variable initializations, system tolerance and confidence level, perturbations, and noises.展开更多
In short-term operation of natural gas network,the impact of demand uncertainty is not negligible.To address this issue we propose a two-stage robust model for power cost minimization problem in gunbarrel natural gas ...In short-term operation of natural gas network,the impact of demand uncertainty is not negligible.To address this issue we propose a two-stage robust model for power cost minimization problem in gunbarrel natural gas networks.The demands between pipelines and compressor stations are uncertain with a budget parameter,since it is unlikely that all the uncertain demands reach the maximal deviation simultaneously.During solving the two-stage robust model we encounter a bilevel problem which is challenging to solve.We formulate it as a multi-dimensional dynamic programming problem and propose approximate dynamic programming methods to accelerate the calculation.Numerical results based on real network in China show that we obtain a speed gain of 7 times faster in average without compromising optimality compared with original dynamic programming algorithm.Numerical results also verify the advantage of robust model compared with deterministic model when facing uncertainties.These findings offer short-term operation methods for gunbarrel natural gas network management to handle with uncertainties.展开更多
Planning for water quality management is important for facilitating sustainable socio-economic development;however, the planning is also complicated by a variety of uncertainties and nonlinearities. In this study, an ...Planning for water quality management is important for facilitating sustainable socio-economic development;however, the planning is also complicated by a variety of uncertainties and nonlinearities. In this study, an interval-parameter fuzzy robust nonlinear programming (IFRNP) model was developed for water quality management to deal with such difficulties. The developed model incorporated interval nonlinear programming (INP) and fuzzy robust programming (FRP) methods within a general optimization framework. The developed IFRNP model not only could explicitly deal with uncertainties represented as discrete interval numbers and fuzzy membership functions, but also was able to deal with nonlinearities in the objective function.展开更多
An algorithm is proposed in this paper for solving two-dimensional bi-level linear programming problems without making a graph. Based on the classification of constraints, algorithm removes all redundant constraints, ...An algorithm is proposed in this paper for solving two-dimensional bi-level linear programming problems without making a graph. Based on the classification of constraints, algorithm removes all redundant constraints, which eliminate the possibility of cycling and the solution of the problem is reached in a finite number of steps. Example to illustrate the method is also included in the paper.展开更多
The urban transit fare structure and level can largely affect passengers’travel behavior and route choices.The commonly used transit fare policies in the present transit network would lead to the unbalanced transit a...The urban transit fare structure and level can largely affect passengers’travel behavior and route choices.The commonly used transit fare policies in the present transit network would lead to the unbalanced transit assignment and improper transit resources distribution.In order to distribute transit passenger flow evenly and efficiently,this paper introduces a new distance-based fare pattern with Euclidean distance.A bi-level programming model is developed for determining the optimal distance-based fare pattern,with the path-based stochastic transit assignment(STA)problem with elastic demand being proposed at the lower level.The upper-level intends to address a principal-agent game between transport authorities and transit enterprises pursing maximization of social welfare and financial interest,respectively.A genetic algorithm(GA)is implemented to solve the bi-level model,which is verified by a numerical example to illustrate that the proposed nonlinear distance-based fare pattern presents a better financial performance and distribution effect than other fare structures.展开更多
In order to meet the needs of collaborative decision making,considering the different demands of air traffic control units,airlines,airports and passengers in various traffic scenarios,the joint scheduling problem of ...In order to meet the needs of collaborative decision making,considering the different demands of air traffic control units,airlines,airports and passengers in various traffic scenarios,the joint scheduling problem of arrival and departure flights is studied systematically.According to the matching degree of capacity and flow,it is determined that the traffic state of arrival/departure operation in a certain period is peak or off-peak.The demands of all parties in each traffic state are analyzed,and the mathematical models of arrival/departure flight scheduling in each traffic state are established.Aiming at the four kinds of joint operation traffic scenarios of arrival and departure,the corresponding bi-level programming models for joint scheduling of arrival and departure flights are established,respectively,and the elitism genetic algorithm is designed to solve the models.The results show that:Compared with the first-come-firstserved method,in the scenarios of arrival peak&departure off-peak and arrival peak&departure peak,the departure flight equilibrium satisfaction is improved,and the runway occupation time of departure flight flow is reduced by 38.8%.In the scenarios of arrival off-peak&departure off-peak and departure peak&arrival off-peak,the arrival flight equilibrium delay time is significantly reduced,the departure flight equilibrium satisfaction is improved by 77.6%,and the runway occupation time of departure flight flow is reduced by 46.6%.Compared with other four kinds of strategies,the optimal scheduling method can better balance fairness and efficiency,so the scheduling results are more reasonable.展开更多
The paper develops a robust control approach for nonaffine nonlinear continuous systems with input constraints and unknown uncertainties. Firstly, this paper constructs an affine augmented system(AAS) within a pre-com...The paper develops a robust control approach for nonaffine nonlinear continuous systems with input constraints and unknown uncertainties. Firstly, this paper constructs an affine augmented system(AAS) within a pre-compensation technique for converting the original nonaffine dynamics into affine dynamics. Secondly, the paper derives a stability criterion linking the original nonaffine system and the auxiliary system, demonstrating that the obtained optimal policies from the auxiliary system can achieve the robust controller of the nonaffine system. Thirdly, an online adaptive dynamic programming(ADP) algorithm is designed for approximating the optimal solution of the Hamilton–Jacobi–Bellman(HJB) equation.Moreover, the gradient descent approach and projection approach are employed for updating the actor-critic neural network(NN) weights, with the algorithm's convergence being proven. Then, the uniformly ultimately bounded stability of state is guaranteed. Finally, in simulation, some examples are offered for validating the effectiveness of this presented approach.展开更多
This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent s...This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent systems(MASs).First, the parallel control system, which consists of a virtual control variable and a specific auxiliary variable obtained from the coupled Hamiltonian, allows general systems to be transformed into affine systems. Of interest is the fact that the parallel control technique's introduction provides an unprecedented perspective on eliminating the negative effects of disturbance. Then, an eventtriggered mechanism is adopted to save communication resources while ensuring the system's stability. The coupled HamiltonJacobi(HJ) equation's solution is approximated using a critic neural network(NN), whose weights are updated in response to events. Furthermore, theoretical analysis reveals that the weight estimation error is uniformly ultimately bounded(UUB). Finally,numerical simulations demonstrate the effectiveness of the developed ETRPOC method.展开更多
To solve the problems that the exception handling code is hard to test and maintain and that it affects the robustness and reliability of software, a method for evaluating the exception handling of programs is present...To solve the problems that the exception handling code is hard to test and maintain and that it affects the robustness and reliability of software, a method for evaluating the exception handling of programs is presented. The exception propagation graph （EPG） that describes the large programs with exception handling constructs is proposed by simplifying the control flow graph and it is applied to a case to verify its validity. According to the EPG, the exception handling code that never executes is identified; the points that are the most critical to controlling exception propagation are found; and the irrational exception handling code is corrected. The constructing algorithm for the EPG is given; thus, this provides a basis for automatically constructing the EPG and automatically correcting the irrational exception handling code.展开更多
Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly...Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly change in each planning period. The objective of the design is to find the robust facility layout with minimum total material handling cost over the entire multiperiod planning horizon. This paper proposes a new mathematical model for designing robust machine layout in the stochastic dynamic environment of manufacturing systems using quadratic assignment problem （QAP） formulation. In this investigation, product demands are assumed to be normally distributed random variables with known expected value, variance, and covariance that randomly change from period to period. The proposed model was verified and validated using randomly generated numerical data and benchmark examples. The effect of dependent product demands and varying interest rate on the total cost function of the proposed model has also been investigated. Sensitivity analysis on the proposed model has been performed. Dynamic programming and simulated annealing optimization algorithms were used in solving the modeled example problems.展开更多
A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landi...A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.展开更多
Most of studies on Distributed Antenna System(DAS) focus on maximizing the sum capacity and perfect channel state information at transmitter(CSIT).However,CSI is inevitable imperfect in practical wireless networks.Bas...Most of studies on Distributed Antenna System(DAS) focus on maximizing the sum capacity and perfect channel state information at transmitter(CSIT).However,CSI is inevitable imperfect in practical wireless networks.Based on the sources of error,there are two models.One assumes error lies in a bounded region,the other assumes random error.Accordingly,we propose two joint antenna selection(AS) and robustbeamforming schemes aiming to minimize the total transmit power at antenna nodes subject to quality of service(QoS) guarantee for all the mobile users(MUs) in multicell DAS.This problem is mathematically intractable.For the bounded error model,we cast it into a semidefinite program(SDP) using semidefinite relaxation(SDR) and S-procedure.For the second,we first design outage constrained robust beamforming and then formulate it as an SDP based on the Bernstein-type inequality,which we generalize it to the multi-cell DAS.Simulation results verify the effectiveness of the proposed methods.展开更多
This paper employs a new second-order cone (SOC) model as the uncertainty set to capture non-Gaussian local variations. Then using robust gate sizing as an example, we describe the detailed procedures of robust design...This paper employs a new second-order cone (SOC) model as the uncertainty set to capture non-Gaussian local variations. Then using robust gate sizing as an example, we describe the detailed procedures of robust design with a budget of uncertainty. For a pre-selected probability level of yield protection, this robust method translates uncertainty budgeting problems into regular robust optimization problems. More importantly, under the assumption of non-Gaussian distributions, we show that within-die variations will lead to varying sizes of uncertainty sets at different nominal values. By using this new model of uncertainty estimation, the robust gate sizing problem can be formulated as a Geometric Program (GP) and therefore efficiently solved.展开更多
In this paper, the problem of program performance scheduling with accepting strategy is studied. Considering the uncertainty of actual situation, the duration of a program is expressed as a bounded interval. Firstly, ...In this paper, the problem of program performance scheduling with accepting strategy is studied. Considering the uncertainty of actual situation, the duration of a program is expressed as a bounded interval. Firstly, we decide which programs are accepted. Secondly, the risk preference coefficient of the decision maker is introduced. Thirdly, the min-max robust optimization model of the uncertain program show scheduling is built to minimize the performance cost and determine the sequence of these programs. Based on the above model, an effective algorithm for the original problem is proposed. The computational experiment shows that the performance’s cost (revenue) will increase (decrease) with decision maker’s risk aversion.展开更多
In this paper, a novel robust precoder with imperfect channel state information(CSI)is proposed for multi-input multi-output(MIMO)cognitive multiuser networks equipped with relays. In the proposed model, the secondary...In this paper, a novel robust precoder with imperfect channel state information(CSI)is proposed for multi-input multi-output(MIMO)cognitive multiuser networks equipped with relays. In the proposed model, the secondary users(SUs)are allowed to share the spectrum with the primary users(PUs)when the interference temperature(IT)is below a specific threshold. The transmitting strategy of relays is amplify-and-forward(AF), and the CSI error is characterized in terms of spherical uncertainty region. A minmax problem for the transmit power of the relays is considered when the mean square error(MSE)of SUs and the IT of PU meet their corresponding thresholds, and it is transformed into a semi-definite programming(SDP)problem to search for the solution. Numerical simulations demonstrate the effectiveness of the proposed precoder.展开更多
This paper presents a two-stage robust model predictive control (RMPC) algorithm named as IRMPC for uncertain linear integrating plants described by a state-space model with input constraints. The global convergence o...This paper presents a two-stage robust model predictive control (RMPC) algorithm named as IRMPC for uncertain linear integrating plants described by a state-space model with input constraints. The global convergence of the resulted closed loop system is guaranteed under mild assumption. The simulation example shows its validity and better performance than conventional Min-Max RMPC strategies.展开更多
In this work we propose a solution method based on Lagrange relaxation for discrete-continuous bi-level problems, with binary variables in the leading problem, considering the optimistic approach in bi-level programmi...In this work we propose a solution method based on Lagrange relaxation for discrete-continuous bi-level problems, with binary variables in the leading problem, considering the optimistic approach in bi-level programming. For the application of the method, the two-level problem is reformulated using the Karush-Kuhn-Tucker conditions. The resulting model is linearized taking advantage of the structure of the leading problem. Using a Lagrange relaxation algorithm, it is possible to find a global solution efficiently. The algorithm was tested to show how it performs.展开更多
In the real situations of supply chain, there are different parts such as facilities, logistics warehouses and retail stores and they handle common kinds of products. In this research, these situations are focused on ...In the real situations of supply chain, there are different parts such as facilities, logistics warehouses and retail stores and they handle common kinds of products. In this research, these situations are focused on as the background of this research. They deal with the common quantities of their products, but due to their different environments, the optimal production quantity of one part can be unacceptable to another part and it may suffer a heavy loss. To avoid that kind of unacceptable situations, the common production quantities should be acceptable to all parts in one supply chain. Therefore, the motivation of this research is the necessity of the method to find the production quantities that make all decision makers acceptable is needed. However, it is difficult to find the production quantities that make all decision makers acceptable. Moreover, their acceptable ranges do not always have common ranges. In the decision making of car design, there are similar situations to this type of decision making. The performance of a car consists of purposes such as fuel efficiency, size and so on. Improving one purpose makes another worse and the relationship between these purposes is tradeoff. In these cases, Suriawase process is applied. This process consists of negotiations and reviews of the requirements of the purposes. In the step of negotiations, the requirements of the purposes are share among all decision makers and the solution that makes them as satisfied as possible. In the step of reviews of the requirements, they are reviewed based on the result of the negotiation if the result is unacceptable to some of decision makers. Therefore, through the iterations of the two steps, the solution that makes all decision makers satisfied is obtained. However, in the previous research, the effects that one decision maker reviews requirements in Suriawase process are quantified, but the mathematical model to modify the ranges of production quantities of all decision makers simultaneously is not shown. Therefore, in this research, based on Suriawase process, the mathematical model of multi-player multi-objective decision making is proposed. The mathematical model of multi-player multi-objective decision making by using linear physical programming (LPP) and robust optimization (RO) in the previous research is the basis of the methods of this research. LPP is one of the multi-objective optimization methods and RO is used to make the balance of the preference levels among decision makers. In LPP, the preference ranges of all objective functions are needed, so as the hypothesis of this research. In the research referred in this research, the method to control the effect of RO is not shown. If the effect of RO is too big, the average of the preference level becomes worse. The purpose of this research is to reproduce the mathematical model of multi-player multi-objective decision making based on Suriawase process and propose the method to control the effect of RO. In the proposed model, a set of the solutions of the negotiation problem is obtained and it is proved by the result of the numerical experiment. Therefore, the conclusion that the proposed model is available to obtain a set of the solutions of the negotiation problems in supply chain.展开更多
基金the National Natural Science Foundation of China(No.60904066)
文摘This paper presents an adaptive path planner for unmanned aerial vehicles （UAVs） to adapt a real-time path search procedure to variations and fluctuations of UAVs’ relevant performances, with respect to sensory capability, maneuverability, and flight velocity limit. On the basis of a novel adaptability-involved problem statement, bi-level programming （BLP） and variable planning step techniques are introduced to model the necessary path planning components and then an adaptive path planner is developed for the purpose of adaptation and optimization. Additionally, both probabilistic-risk-based obstacle avoidance and performance limits are described as path search constraints to guarantee path safety and navigability. A discrete-search-based path planning solution, embedded with four optimization strategies, is especially designed for the planner to efficiently generate optimal flight paths in complex operational spaces, within which different surface-to-air missiles （SAMs） are deployed. Simulation results in challenging and stochastic scenarios firstly demonstrate the effectiveness and efficiency of the proposed planner, and then verify its great adaptability and relative stability when planning optimal paths for a UAV with changing or fluctuating performances.
基金Project(2006CB705507) supported by the National Basic Research and Development Program of ChinaProject(20060533036) supported by the Specialized Research Foundation for the Doctoral Program of Higher Education of China
文摘Considering the decision-making variables of the capacities of branch roads and the optimization targets of lowering the saturation of arterial roads and the reconstruction expense of branch roads, the bi-level programming model for reconstructing the branch roads was set up. The upper level model was for determining the enlarged capacities of the branch roads, and the lower level model was for calculating the flows of road sections via the user equilibrium traffic assignment method. The genetic algorithm for solving the bi-level model was designed to obtain the reconstruction capacities of the branch roads. The results show that by the bi-level model and its algorithm, the optimum scheme of urban branch roads reconstruction can be gained, which reduces the saturation of arterial roads apparently, and alleviates traffic congestion. In the data analysis the arterial saturation decreases from 1.100 to 0.996, which verifies the micro-circulation transportation's function of urban branch road network.
基金supported by National High Technology Research and Development Program of China (863 Program) (No. 2007AA041603)National Natural Science Foundation of China (No. 60475035)+2 种基金Key Technologies Research and Development Program Foundation of Hunan Province of China (No. 2007FJ1806)Science and Technology Research Plan of National University of Defense Technology (No. CX07-03-01)Top Class Graduate Student Innovation Sustentation Fund of National University of Defense Technology (No. B070302.)
文摘This paper proposes an adaptive chaos quantum honey bee algorithm （CQHBA） for solving chance-constrained program- ming in random fuzzy environment based on random fuzzy simulations. Random fuzzy simulation is designed to estimate the chance of a random fuzzy event and the optimistic value to a random fuzzy variable. In CQHBA, each bee carries a group of quantum bits representing a solution. Chaos optimization searches space around the selected best-so-far food source. In the marriage process, random interferential discrete quantum crossover is done between selected drones and the queen. Gaussian quantum mutation is used to keep the diversity of whole population. New methods of computing quantum rotation angles are designed based on grads. A proof of con- vergence for CQHBA is developed and a theoretical analysis of the computational overhead for the algorithm is presented. Numerical examples are presented to demonstrate its superiority in robustness and stability, efficiency of computational complexity, success rate, and accuracy of solution quality. CQHBA is manifested to be highly robust under various conditions and capable of handling most random fuzzy programmings with any parameter settings, variable initializations, system tolerance and confidence level, perturbations, and noises.
基金partially supported by the National Science Foundation of China(Grants 71822105 and 91746210)。
文摘In short-term operation of natural gas network,the impact of demand uncertainty is not negligible.To address this issue we propose a two-stage robust model for power cost minimization problem in gunbarrel natural gas networks.The demands between pipelines and compressor stations are uncertain with a budget parameter,since it is unlikely that all the uncertain demands reach the maximal deviation simultaneously.During solving the two-stage robust model we encounter a bilevel problem which is challenging to solve.We formulate it as a multi-dimensional dynamic programming problem and propose approximate dynamic programming methods to accelerate the calculation.Numerical results based on real network in China show that we obtain a speed gain of 7 times faster in average without compromising optimality compared with original dynamic programming algorithm.Numerical results also verify the advantage of robust model compared with deterministic model when facing uncertainties.These findings offer short-term operation methods for gunbarrel natural gas network management to handle with uncertainties.
文摘Planning for water quality management is important for facilitating sustainable socio-economic development;however, the planning is also complicated by a variety of uncertainties and nonlinearities. In this study, an interval-parameter fuzzy robust nonlinear programming (IFRNP) model was developed for water quality management to deal with such difficulties. The developed model incorporated interval nonlinear programming (INP) and fuzzy robust programming (FRP) methods within a general optimization framework. The developed IFRNP model not only could explicitly deal with uncertainties represented as discrete interval numbers and fuzzy membership functions, but also was able to deal with nonlinearities in the objective function.
文摘An algorithm is proposed in this paper for solving two-dimensional bi-level linear programming problems without making a graph. Based on the classification of constraints, algorithm removes all redundant constraints, which eliminate the possibility of cycling and the solution of the problem is reached in a finite number of steps. Example to illustrate the method is also included in the paper.
基金the Humanities and Social Science Foundation of the Ministry of Education of China(Grant No.20YJCZH121).
文摘The urban transit fare structure and level can largely affect passengers’travel behavior and route choices.The commonly used transit fare policies in the present transit network would lead to the unbalanced transit assignment and improper transit resources distribution.In order to distribute transit passenger flow evenly and efficiently,this paper introduces a new distance-based fare pattern with Euclidean distance.A bi-level programming model is developed for determining the optimal distance-based fare pattern,with the path-based stochastic transit assignment(STA)problem with elastic demand being proposed at the lower level.The upper-level intends to address a principal-agent game between transport authorities and transit enterprises pursing maximization of social welfare and financial interest,respectively.A genetic algorithm(GA)is implemented to solve the bi-level model,which is verified by a numerical example to illustrate that the proposed nonlinear distance-based fare pattern presents a better financial performance and distribution effect than other fare structures.
基金supported by Nanjing University of Aeronautics and Astronautics Graduate Innovation Base(Laboratory)Open Fund(No.kfjj20200717).
文摘In order to meet the needs of collaborative decision making,considering the different demands of air traffic control units,airlines,airports and passengers in various traffic scenarios,the joint scheduling problem of arrival and departure flights is studied systematically.According to the matching degree of capacity and flow,it is determined that the traffic state of arrival/departure operation in a certain period is peak or off-peak.The demands of all parties in each traffic state are analyzed,and the mathematical models of arrival/departure flight scheduling in each traffic state are established.Aiming at the four kinds of joint operation traffic scenarios of arrival and departure,the corresponding bi-level programming models for joint scheduling of arrival and departure flights are established,respectively,and the elitism genetic algorithm is designed to solve the models.The results show that:Compared with the first-come-firstserved method,in the scenarios of arrival peak&departure off-peak and arrival peak&departure peak,the departure flight equilibrium satisfaction is improved,and the runway occupation time of departure flight flow is reduced by 38.8%.In the scenarios of arrival off-peak&departure off-peak and departure peak&arrival off-peak,the arrival flight equilibrium delay time is significantly reduced,the departure flight equilibrium satisfaction is improved by 77.6%,and the runway occupation time of departure flight flow is reduced by 46.6%.Compared with other four kinds of strategies,the optimal scheduling method can better balance fairness and efficiency,so the scheduling results are more reasonable.
基金Project supported by the National Natural Science Foundation of China (Grant No. 62103408)Beijing Nova Program (Grant No. 20240484516)the Fundamental Research Funds for the Central Universities (Grant No. KG16314701)。
文摘The paper develops a robust control approach for nonaffine nonlinear continuous systems with input constraints and unknown uncertainties. Firstly, this paper constructs an affine augmented system(AAS) within a pre-compensation technique for converting the original nonaffine dynamics into affine dynamics. Secondly, the paper derives a stability criterion linking the original nonaffine system and the auxiliary system, demonstrating that the obtained optimal policies from the auxiliary system can achieve the robust controller of the nonaffine system. Thirdly, an online adaptive dynamic programming(ADP) algorithm is designed for approximating the optimal solution of the Hamilton–Jacobi–Bellman(HJB) equation.Moreover, the gradient descent approach and projection approach are employed for updating the actor-critic neural network(NN) weights, with the algorithm's convergence being proven. Then, the uniformly ultimately bounded stability of state is guaranteed. Finally, in simulation, some examples are offered for validating the effectiveness of this presented approach.
基金supported in part by the National Key Research and Development Program of China(2021YFE0206100)the National Natural Science Foundation of China(62425310,62073321)+2 种基金the National Defense Basic Scientific Research Program(JCKY2019203C029,JCKY2020130C025)the Science and Technology Development FundMacao SAR(FDCT-22-009-MISE,0060/2021/A2,0015/2020/AMJ)
文摘This paper highlights the utilization of parallel control and adaptive dynamic programming(ADP) for event-triggered robust parallel optimal consensus control(ETRPOC) of uncertain nonlinear continuous-time multiagent systems(MASs).First, the parallel control system, which consists of a virtual control variable and a specific auxiliary variable obtained from the coupled Hamiltonian, allows general systems to be transformed into affine systems. Of interest is the fact that the parallel control technique's introduction provides an unprecedented perspective on eliminating the negative effects of disturbance. Then, an eventtriggered mechanism is adopted to save communication resources while ensuring the system's stability. The coupled HamiltonJacobi(HJ) equation's solution is approximated using a critic neural network(NN), whose weights are updated in response to events. Furthermore, theoretical analysis reveals that the weight estimation error is uniformly ultimately bounded(UUB). Finally,numerical simulations demonstrate the effectiveness of the developed ETRPOC method.
基金The National Natural Science Foundation of China(No60503020)the National Basic Research Program of China (973Program) (No2002CB312000)+1 种基金the Natural Science Foundation of Jiangsu Province (NoBK2006094)the Science Research Foundation of China University of Mining and Technology
文摘To solve the problems that the exception handling code is hard to test and maintain and that it affects the robustness and reliability of software, a method for evaluating the exception handling of programs is presented. The exception propagation graph （EPG） that describes the large programs with exception handling constructs is proposed by simplifying the control flow graph and it is applied to a case to verify its validity. According to the EPG, the exception handling code that never executes is identified; the points that are the most critical to controlling exception propagation are found; and the irrational exception handling code is corrected. The constructing algorithm for the EPG is given; thus, this provides a basis for automatically constructing the EPG and automatically correcting the irrational exception handling code.
基金Supported by the Ministry of Higher Education of Malaysia through the Foundation Research(Grant Scheme no.FRGS/1/2012/TK01/MMU/02/2)
文摘Design of a robust production facility layout with minimum handling cost （MHC） presents an appropriate approach to tackle facility layout problems in a dynamic volatile environment, in which product demands randomly change in each planning period. The objective of the design is to find the robust facility layout with minimum total material handling cost over the entire multiperiod planning horizon. This paper proposes a new mathematical model for designing robust machine layout in the stochastic dynamic environment of manufacturing systems using quadratic assignment problem （QAP） formulation. In this investigation, product demands are assumed to be normally distributed random variables with known expected value, variance, and covariance that randomly change from period to period. The proposed model was verified and validated using randomly generated numerical data and benchmark examples. The effect of dependent product demands and varying interest rate on the total cost function of the proposed model has also been investigated. Sensitivity analysis on the proposed model has been performed. Dynamic programming and simulated annealing optimization algorithms were used in solving the modeled example problems.
基金Project(61473304)supported by the National Natural Science Foundation of ChinaProject(2015AA042202)supported by Hi-tech Research and Development Program of China
文摘A compliant landing strategy for a trotting quadruped robot on unknown rough terrains based on contact force control is presented. Firstly, in order to lower the disturbance caused by the landing impact force, a landing phase is added between the swing phase and the stance phase, where the desired contact force is set as a small positive constant. Secondly, the joint torque optimization of the stance legs is formulated as a quadratic programming(QP) problem subject to equality and inequality/bound constraints. And a primal-dual dynamical system solver based on linear variational inequalities(LVI) is applied to solve this QP problem. Furthermore, based on the optimization results, a hybrid motion/force robust controller is designed to realize the tracking of the contact force, while the constraints of the stance feet landing angles are fulfilled simultaneously. Finally, the experiments are performed to validate the proposed methods.
基金ACKNOWLEDGEMENTS This work is supported by Natural Science Foundation of China （No. 61340035） and Guangzhou science and technology plan projects （2014-132000764）.
文摘Most of studies on Distributed Antenna System(DAS) focus on maximizing the sum capacity and perfect channel state information at transmitter(CSIT).However,CSI is inevitable imperfect in practical wireless networks.Based on the sources of error,there are two models.One assumes error lies in a bounded region,the other assumes random error.Accordingly,we propose two joint antenna selection(AS) and robustbeamforming schemes aiming to minimize the total transmit power at antenna nodes subject to quality of service(QoS) guarantee for all the mobile users(MUs) in multicell DAS.This problem is mathematically intractable.For the bounded error model,we cast it into a semidefinite program(SDP) using semidefinite relaxation(SDR) and S-procedure.For the second,we first design outage constrained robust beamforming and then formulate it as an SDP based on the Bernstein-type inequality,which we generalize it to the multi-cell DAS.Simulation results verify the effectiveness of the proposed methods.
文摘This paper employs a new second-order cone (SOC) model as the uncertainty set to capture non-Gaussian local variations. Then using robust gate sizing as an example, we describe the detailed procedures of robust design with a budget of uncertainty. For a pre-selected probability level of yield protection, this robust method translates uncertainty budgeting problems into regular robust optimization problems. More importantly, under the assumption of non-Gaussian distributions, we show that within-die variations will lead to varying sizes of uncertainty sets at different nominal values. By using this new model of uncertainty estimation, the robust gate sizing problem can be formulated as a Geometric Program (GP) and therefore efficiently solved.
文摘In this paper, the problem of program performance scheduling with accepting strategy is studied. Considering the uncertainty of actual situation, the duration of a program is expressed as a bounded interval. Firstly, we decide which programs are accepted. Secondly, the risk preference coefficient of the decision maker is introduced. Thirdly, the min-max robust optimization model of the uncertain program show scheduling is built to minimize the performance cost and determine the sequence of these programs. Based on the above model, an effective algorithm for the original problem is proposed. The computational experiment shows that the performance’s cost (revenue) will increase (decrease) with decision maker’s risk aversion.
基金Supported by the Beijing Key Laboratory of Work Safety Intelligent Monitoring(Beijing University of Posts and Telecommunications)
文摘In this paper, a novel robust precoder with imperfect channel state information(CSI)is proposed for multi-input multi-output(MIMO)cognitive multiuser networks equipped with relays. In the proposed model, the secondary users(SUs)are allowed to share the spectrum with the primary users(PUs)when the interference temperature(IT)is below a specific threshold. The transmitting strategy of relays is amplify-and-forward(AF), and the CSI error is characterized in terms of spherical uncertainty region. A minmax problem for the transmit power of the relays is considered when the mean square error(MSE)of SUs and the IT of PU meet their corresponding thresholds, and it is transformed into a semi-definite programming(SDP)problem to search for the solution. Numerical simulations demonstrate the effectiveness of the proposed precoder.
文摘This paper presents a two-stage robust model predictive control (RMPC) algorithm named as IRMPC for uncertain linear integrating plants described by a state-space model with input constraints. The global convergence of the resulted closed loop system is guaranteed under mild assumption. The simulation example shows its validity and better performance than conventional Min-Max RMPC strategies.
文摘In this work we propose a solution method based on Lagrange relaxation for discrete-continuous bi-level problems, with binary variables in the leading problem, considering the optimistic approach in bi-level programming. For the application of the method, the two-level problem is reformulated using the Karush-Kuhn-Tucker conditions. The resulting model is linearized taking advantage of the structure of the leading problem. Using a Lagrange relaxation algorithm, it is possible to find a global solution efficiently. The algorithm was tested to show how it performs.
文摘In the real situations of supply chain, there are different parts such as facilities, logistics warehouses and retail stores and they handle common kinds of products. In this research, these situations are focused on as the background of this research. They deal with the common quantities of their products, but due to their different environments, the optimal production quantity of one part can be unacceptable to another part and it may suffer a heavy loss. To avoid that kind of unacceptable situations, the common production quantities should be acceptable to all parts in one supply chain. Therefore, the motivation of this research is the necessity of the method to find the production quantities that make all decision makers acceptable is needed. However, it is difficult to find the production quantities that make all decision makers acceptable. Moreover, their acceptable ranges do not always have common ranges. In the decision making of car design, there are similar situations to this type of decision making. The performance of a car consists of purposes such as fuel efficiency, size and so on. Improving one purpose makes another worse and the relationship between these purposes is tradeoff. In these cases, Suriawase process is applied. This process consists of negotiations and reviews of the requirements of the purposes. In the step of negotiations, the requirements of the purposes are share among all decision makers and the solution that makes them as satisfied as possible. In the step of reviews of the requirements, they are reviewed based on the result of the negotiation if the result is unacceptable to some of decision makers. Therefore, through the iterations of the two steps, the solution that makes all decision makers satisfied is obtained. However, in the previous research, the effects that one decision maker reviews requirements in Suriawase process are quantified, but the mathematical model to modify the ranges of production quantities of all decision makers simultaneously is not shown. Therefore, in this research, based on Suriawase process, the mathematical model of multi-player multi-objective decision making is proposed. The mathematical model of multi-player multi-objective decision making by using linear physical programming (LPP) and robust optimization (RO) in the previous research is the basis of the methods of this research. LPP is one of the multi-objective optimization methods and RO is used to make the balance of the preference levels among decision makers. In LPP, the preference ranges of all objective functions are needed, so as the hypothesis of this research. In the research referred in this research, the method to control the effect of RO is not shown. If the effect of RO is too big, the average of the preference level becomes worse. The purpose of this research is to reproduce the mathematical model of multi-player multi-objective decision making based on Suriawase process and propose the method to control the effect of RO. In the proposed model, a set of the solutions of the negotiation problem is obtained and it is proved by the result of the numerical experiment. Therefore, the conclusion that the proposed model is available to obtain a set of the solutions of the negotiation problems in supply chain.
