Dear Editor,This letter addresses distributed optimization for resource allocation problems with time-varying objective functions and time-varying constraints.Inspired by the distributed average tracking(DAT)approach,...Dear Editor,This letter addresses distributed optimization for resource allocation problems with time-varying objective functions and time-varying constraints.Inspired by the distributed average tracking(DAT)approach,a distributed control protocol is proposed for optimal resource allocation.The convergence to a time-varying optimal solution within a predefined time is proved.Two numerical examples are given to illustrate the effectiveness of the proposed approach.展开更多
To solve the scheduling problem of dual-armed cluster tools for wafer fabrications with residency time and reentrant constraints,a heuristic scheduling algorithm was developed.Firstly,on the basis of formulating sched...To solve the scheduling problem of dual-armed cluster tools for wafer fabrications with residency time and reentrant constraints,a heuristic scheduling algorithm was developed.Firstly,on the basis of formulating scheduling problems domain of dual-armed cluster tools,a non-integer programming model was set up with a minimizing objective function of the makespan.Combining characteristics of residency time and reentrant constraints,a scheduling algorithm of searching the optimal operation path of dual-armed transport module was presented under many kinds of robotic scheduling paths for dual-armed cluster tools.Finally,the experiments were designed to evaluate the proposed algorithm.The results show that the proposed algorithm is feasible and efficient for obtaining an optimal scheduling solution of dual-armed cluster tools with residency time and reentrant constraints.展开更多
The factors like production accuracy and completion time are the determinants of the optimal scheduling of the complex products work-flow,so the main research direction of modern work-flow technology is how to assure ...The factors like production accuracy and completion time are the determinants of the optimal scheduling of the complex products work-flow,so the main research direction of modern work-flow technology is how to assure the dynamic balance between the factors.Based on the work-flow technology,restraining the completion time,and analyzing the deficiency of traditional minimum critical path algorithm,a virtual iterative reduction algorithm(VIRA)was proposed,which can improve production accuracy effectively with time constrain.The VIRA with simplification as the core abstracts a virtual task that can predigest the process by combining the complex structures which are cyclic or parallel,finally,by using the virtual task and the other task in the process which is the iterative reduction strategy,determines a path which can make the production accuracy and completion time more balanced than the minimum critical path algorithm.The deadline,the number of tasks,and the number of cyclic structures were used as the factors affecting the performance of the algorithm,changing the influence factors can improve the performance of the algorithm effectively through the analysis of detailed data.Consequently,comparison experiments proved the feasibility of the VIRA.展开更多
The description of modern differential geometry for time-dependent Chetaev nonholonomic mechanical systems with unilateral constraints is studied. By using the structure of exact contact manifold, the geometric framew...The description of modern differential geometry for time-dependent Chetaev nonholonomic mechanical systems with unilateral constraints is studied. By using the structure of exact contact manifold, the geometric framework of time- dependent nonholonomic mechanical systems subject to unilateral nonholonomic constraints and unilateral holonomic constraints respectively is presented.展开更多
Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial laun...Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial launched conditions. However, rapid convergence to a desired impact angle within a uniform bounded finite time is important in most practical guidance applications. A uniformly finite-time/fixed-time convergent guidance law means that the convergence（settling） time is predefined independently on initial conditions, that is, a closed-loop convergence time can be estimated a priori by guidance parameters. In this paper, a novel adaptive fast fixed-time sliding mode guidance law to intercept maneuver targets at a desired impact angle from any initial heading angle,with no problems of singularity and chattering, is designed. The proposed guidance law achieves system stabilization within bounded settling time independent on initial conditions and achieves more rapid convergence than those of fixed-time stable control methods by accelerating the convergence rate when the system is close to the origin. The achieved acceleration-magnitude constraints are rigorously enforced, and the chattering-free property is guaranteed by adaptive switching gains.Extensive numerical simulations are presented to validate the efficiency and superiority of the proposed guidance law for different initial engagement geometries and impact angles.展开更多
This paper presents a novel movement planning algorithm for a guard robot in an indoor environment, imitating the job of human security. A movement planner is employed by the guard robot to continuously observe a cert...This paper presents a novel movement planning algorithm for a guard robot in an indoor environment, imitating the job of human security. A movement planner is employed by the guard robot to continuously observe a certain person. This problem can be distinguished from the person following problem which continuously follows the object. Instead, the movement planner aims to reduce the movement and the energy while keeping the target person under its visibility. The proposed algorithm exploits the topological features of the environment to obtain a set of viewpoint candidates, and it is then optimized by a cost-based set covering problem. Both the robot and the target person are modeled using geodesic motion model which considers the environment shape. Subsequently, a particle model-based planner is employed, considering the chance constraints over the robot visibility, to choose an optimal action for the robot. Simulation results using 3D simulator and experiments on a real environment are provided to show the feasibility and effectiveness of our algorithm.展开更多
The stabilization problem of linear time-varying systems with both state and input constraints is considered. Sufficient conditions for the existence of the solution to this problem are derived and a gain-switched（ga...The stabilization problem of linear time-varying systems with both state and input constraints is considered. Sufficient conditions for the existence of the solution to this problem are derived and a gain-switched（gain-scheduled） state feedback control scheme is built to stabilize the constrained timevarying system. The design problem is transformed to a series of convex feasibility problems which can be solved efficiently. A design example is given to illustrate the effect of the proposed algorithm.展开更多
Previous studies have shown that there are some ca.770–750 Ma mafic dykes at the western segment of the Neoproterozoic Jiangnan orogen(JO),and they represent post-orogenic magmatism due to orogenic collapse(Wang
Guidance laws are proposed for a near space interceptor with on-off type thrust as output.The target-interceptor engagement kinematics is integrated with the first-order dynamics of thruster to design guidance laws.Th...Guidance laws are proposed for a near space interceptor with on-off type thrust as output.The target-interceptor engagement kinematics is integrated with the first-order dynamics of thruster to design guidance laws.The bang-bang type guidance law with linear sliding mode is proposed to deal with thruster dynamics,and the sufficient condition for finite time convergence is rigorously proved based on the finite-time convergence theory.According to the sufficient condition,a sliding mode guidance law with hysteresis-band switching is introduced to reduce the switching frequency of thruster.Then two guidance laws are combined into a composite guidance law to improve the guidance performance.Simulation results show that the line-of-sight angular rate can converge to a neighborhood of the equilibrium point before the final time of the guidance process,and the composite guidance law has better performance than typical guidance laws.展开更多
To minimize the power consumption with resources operating at multiple voltages a time-constrained algorithm is presented.The input to the scheme is an unscheduled data flow graph (DFG),and timing or resource constrai...To minimize the power consumption with resources operating at multiple voltages a time-constrained algorithm is presented.The input to the scheme is an unscheduled data flow graph (DFG),and timing or resource constraints.Partitioning is considered with scheduling in the proposed algorithm as multiple voltage design can lead to an increase in interconnection complexity at layout level.That is,in the proposed algorithm power consumption is first reduced by the scheduling step,and then the partitioning step takes over to decrease the interconnection complexity.The time-constrained algorithm has time complexity of O(n 2),where n is the number of nodes in the DFG.Experiments with a number of DSP benchmarks show that the proposed algorithm achieves the power reduction under timing constraints by an average of 46 5%.展开更多
Guidance problems with flight time constraints are considered in this article. A new virtual leader scheme is used for design of guidance laws with time constraints. The core idea of this scheme is to adopt a virtual ...Guidance problems with flight time constraints are considered in this article. A new virtual leader scheme is used for design of guidance laws with time constraints. The core idea of this scheme is to adopt a virtual leader for real missiles to convert a guidance problem with time constraints to a nonlinear tracking problem,thereby making it possible to settle the problem with a variety of control methods. A novel time-constrained guidance （TCG） law, which can control the flight time of missiles to a prescribed time,is designed by using the virtual leader scheme and stability method. The TCG law is a combination of the well-known proportional navigation guidance（PNG） law and the feedback of flight time error. What＇ s more, this law is free of singularities and hence yields better performances in comparison with optimal guidance laws with time constraints. Nonlinear simulations demonstrate the effectiveness of the proposed law.展开更多
time Petri net(TPN)在实时控制系统的建模中得到广泛应用,而冲撞是Petri网及其扩展模型的重要行为,解决冲撞是正确分析模型动态行为的关键.由于引入时间约束,使得TPN模型的使能和触发语义比Petri网模型的语义复杂,冲撞的检测及消解变...time Petri net(TPN)在实时控制系统的建模中得到广泛应用,而冲撞是Petri网及其扩展模型的重要行为,解决冲撞是正确分析模型动态行为的关键.由于引入时间约束,使得TPN模型的使能和触发语义比Petri网模型的语义复杂,冲撞的检测及消解变得更加困难.首先根据时间约束,给出了变迁持续使能时延迟区间的计算方法,并证明了该方法的正确性;然后在此基础上定义并证明了TPN模型中冲撞的检测方法;给出了冲撞时间区间及修改时间约束的冲撞消解方法;最后通过实例验证说明了该方法的有效性和正确性.展开更多
To solve the problem of time-awarc test case prioritization,a hybrid algorithm composed of integer linear programming and the genetic algorithm(ILP-GA)is proposed.First,the test case suite which cm maximize the number...To solve the problem of time-awarc test case prioritization,a hybrid algorithm composed of integer linear programming and the genetic algorithm(ILP-GA)is proposed.First,the test case suite which cm maximize the number of covered program entities a d satisfy time constraints is selected by integer linea progamming.Secondly,the individual is encoded according to the cover matrices of entities,and the coverage rate of program entities is used as the fitness function and the genetic algorithm is used to prioritize the selected test cases.Five typical open source projects are selected as benchmark programs.Branch and method are selected as program entities,and time constraint percentages a e 25%and 75%.The experimental results show that the ILP-GA convergence has faster speed and better stability than ILP-additional and IP-total in most cases,which contributes to the detection of software defects as early as possible and reduces the software testing costs.展开更多
DAC （Discretionary Access Control Policy） is access control based on ownership relations between subject and object, the subject can discretionarily decide on that who, by what methods, can access his owns object. I...DAC （Discretionary Access Control Policy） is access control based on ownership relations between subject and object, the subject can discretionarily decide on that who, by what methods, can access his owns object. In this paper, the system time is looked as a basic secure element. The DAC_T （Discretionary Access Control Policy with Time Character） is presented and formalized. The DAC_T resolves that the subject can discretionarily decide that who, on when, can access his owns objects. And then the DAC_T is implemented on Linux based on GFAC （General Framework for Access Control）, and the algorithm is put forward. Finally, the performance analysis for the DAC T Linux is carried out. It is proved that the DAC T Linux not only can realize time constraints between subject and object but also can still be accepted by us though its performance have been decreased.展开更多
基金supported by National Key Research and Development Program of China(2024YFE0214000)National Natural Science Foundation of China(62173308)+3 种基金Natural Science Foundation of Zhejiang Province of China(LRG25F030002)Zhejiang Province Leading Geese Plan(2025C01056)Jinhua Science and Technology Project(2022-1-042)Natural Science Foundation of Jiangsu Province(BK20240009).
文摘Dear Editor,This letter addresses distributed optimization for resource allocation problems with time-varying objective functions and time-varying constraints.Inspired by the distributed average tracking(DAT)approach,a distributed control protocol is proposed for optimal resource allocation.The convergence to a time-varying optimal solution within a predefined time is proved.Two numerical examples are given to illustrate the effectiveness of the proposed approach.
基金Projects(7107111561273035)supported by the National Natural Science Foundation of China
文摘To solve the scheduling problem of dual-armed cluster tools for wafer fabrications with residency time and reentrant constraints,a heuristic scheduling algorithm was developed.Firstly,on the basis of formulating scheduling problems domain of dual-armed cluster tools,a non-integer programming model was set up with a minimizing objective function of the makespan.Combining characteristics of residency time and reentrant constraints,a scheduling algorithm of searching the optimal operation path of dual-armed transport module was presented under many kinds of robotic scheduling paths for dual-armed cluster tools.Finally,the experiments were designed to evaluate the proposed algorithm.The results show that the proposed algorithm is feasible and efficient for obtaining an optimal scheduling solution of dual-armed cluster tools with residency time and reentrant constraints.
基金supported by the Heilongjiang Provincial Natural Science Foundation of China(LH2021F030)。
文摘The factors like production accuracy and completion time are the determinants of the optimal scheduling of the complex products work-flow,so the main research direction of modern work-flow technology is how to assure the dynamic balance between the factors.Based on the work-flow technology,restraining the completion time,and analyzing the deficiency of traditional minimum critical path algorithm,a virtual iterative reduction algorithm(VIRA)was proposed,which can improve production accuracy effectively with time constrain.The VIRA with simplification as the core abstracts a virtual task that can predigest the process by combining the complex structures which are cyclic or parallel,finally,by using the virtual task and the other task in the process which is the iterative reduction strategy,determines a path which can make the production accuracy and completion time more balanced than the minimum critical path algorithm.The deadline,the number of tasks,and the number of cyclic structures were used as the factors affecting the performance of the algorithm,changing the influence factors can improve the performance of the algorithm effectively through the analysis of detailed data.Consequently,comparison experiments proved the feasibility of the VIRA.
基金Project supported by the National Natural Science Foundation of China （Grant No 10272021）, the Natural Science Foundation of High Education of Jiangsu Province, China （Grant No 04KJA130135） and the ＂Qing Lan＂ Project Foundation of Jiangsu Province, China.
文摘The description of modern differential geometry for time-dependent Chetaev nonholonomic mechanical systems with unilateral constraints is studied. By using the structure of exact contact manifold, the geometric framework of time- dependent nonholonomic mechanical systems subject to unilateral nonholonomic constraints and unilateral holonomic constraints respectively is presented.
基金supported in part by the National Natural Science Foundation of China (Nos.11202024,11572036)
文摘Sliding mode guidance laws based on a conventional terminal sliding mode guarantees only finite-time convergence, which verifies that the settling time is required to be estimated by selecting appropriate initial launched conditions. However, rapid convergence to a desired impact angle within a uniform bounded finite time is important in most practical guidance applications. A uniformly finite-time/fixed-time convergent guidance law means that the convergence（settling） time is predefined independently on initial conditions, that is, a closed-loop convergence time can be estimated a priori by guidance parameters. In this paper, a novel adaptive fast fixed-time sliding mode guidance law to intercept maneuver targets at a desired impact angle from any initial heading angle,with no problems of singularity and chattering, is designed. The proposed guidance law achieves system stabilization within bounded settling time independent on initial conditions and achieves more rapid convergence than those of fixed-time stable control methods by accelerating the convergence rate when the system is close to the origin. The achieved acceleration-magnitude constraints are rigorously enforced, and the chattering-free property is guaranteed by adaptive switching gains.Extensive numerical simulations are presented to validate the efficiency and superiority of the proposed guidance law for different initial engagement geometries and impact angles.
文摘This paper presents a novel movement planning algorithm for a guard robot in an indoor environment, imitating the job of human security. A movement planner is employed by the guard robot to continuously observe a certain person. This problem can be distinguished from the person following problem which continuously follows the object. Instead, the movement planner aims to reduce the movement and the energy while keeping the target person under its visibility. The proposed algorithm exploits the topological features of the environment to obtain a set of viewpoint candidates, and it is then optimized by a cost-based set covering problem. Both the robot and the target person are modeled using geodesic motion model which considers the environment shape. Subsequently, a particle model-based planner is employed, considering the chance constraints over the robot visibility, to choose an optimal action for the robot. Simulation results using 3D simulator and experiments on a real environment are provided to show the feasibility and effectiveness of our algorithm.
基金supported by the National Natural Science Foundation of China(6132106261503100)the China Postdoctoral Science Foundation(2014M550189)
文摘The stabilization problem of linear time-varying systems with both state and input constraints is considered. Sufficient conditions for the existence of the solution to this problem are derived and a gain-switched（gain-scheduled） state feedback control scheme is built to stabilize the constrained timevarying system. The design problem is transformed to a series of convex feasibility problems which can be solved efficiently. A design example is given to illustrate the effect of the proposed algorithm.
文摘Previous studies have shown that there are some ca.770–750 Ma mafic dykes at the western segment of the Neoproterozoic Jiangnan orogen(JO),and they represent post-orogenic magmatism due to orogenic collapse(Wang
基金supported by the National Natural Science Foundation of China(No.61773142).
文摘Guidance laws are proposed for a near space interceptor with on-off type thrust as output.The target-interceptor engagement kinematics is integrated with the first-order dynamics of thruster to design guidance laws.The bang-bang type guidance law with linear sliding mode is proposed to deal with thruster dynamics,and the sufficient condition for finite time convergence is rigorously proved based on the finite-time convergence theory.According to the sufficient condition,a sliding mode guidance law with hysteresis-band switching is introduced to reduce the switching frequency of thruster.Then two guidance laws are combined into a composite guidance law to improve the guidance performance.Simulation results show that the line-of-sight angular rate can converge to a neighborhood of the equilibrium point before the final time of the guidance process,and the composite guidance law has better performance than typical guidance laws.
文摘To minimize the power consumption with resources operating at multiple voltages a time-constrained algorithm is presented.The input to the scheme is an unscheduled data flow graph (DFG),and timing or resource constraints.Partitioning is considered with scheduling in the proposed algorithm as multiple voltage design can lead to an increase in interconnection complexity at layout level.That is,in the proposed algorithm power consumption is first reduced by the scheduling step,and then the partitioning step takes over to decrease the interconnection complexity.The time-constrained algorithm has time complexity of O(n 2),where n is the number of nodes in the DFG.Experiments with a number of DSP benchmarks show that the proposed algorithm achieves the power reduction under timing constraints by an average of 46 5%.
基金National Natural Science Foundation of China(60674103,60975073)National High-tech Research and Develop-ment Program of China (2006AA04Z260)+1 种基金Research Foundation forDoctoral Program of Higher Education of China (20091102110006 )Aeronautical Science Foundation of China(2008ZC13011)
文摘Guidance problems with flight time constraints are considered in this article. A new virtual leader scheme is used for design of guidance laws with time constraints. The core idea of this scheme is to adopt a virtual leader for real missiles to convert a guidance problem with time constraints to a nonlinear tracking problem,thereby making it possible to settle the problem with a variety of control methods. A novel time-constrained guidance （TCG） law, which can control the flight time of missiles to a prescribed time,is designed by using the virtual leader scheme and stability method. The TCG law is a combination of the well-known proportional navigation guidance（PNG） law and the feedback of flight time error. What＇ s more, this law is free of singularities and hence yields better performances in comparison with optimal guidance laws with time constraints. Nonlinear simulations demonstrate the effectiveness of the proposed law.
文摘time Petri net(TPN)在实时控制系统的建模中得到广泛应用,而冲撞是Petri网及其扩展模型的重要行为,解决冲撞是正确分析模型动态行为的关键.由于引入时间约束,使得TPN模型的使能和触发语义比Petri网模型的语义复杂,冲撞的检测及消解变得更加困难.首先根据时间约束,给出了变迁持续使能时延迟区间的计算方法,并证明了该方法的正确性;然后在此基础上定义并证明了TPN模型中冲撞的检测方法;给出了冲撞时间区间及修改时间约束的冲撞消解方法;最后通过实例验证说明了该方法的有效性和正确性.
基金The Natural Science Foundation of Education Ministry of Shaanxi Province(No.15JK1672)the Industrial Research Project of Shaanxi Province(No.2017GY-092)Special Fund for Key Discipline Construction of General Institutions of Higher Education in Shaanxi Province
文摘To solve the problem of time-awarc test case prioritization,a hybrid algorithm composed of integer linear programming and the genetic algorithm(ILP-GA)is proposed.First,the test case suite which cm maximize the number of covered program entities a d satisfy time constraints is selected by integer linea progamming.Secondly,the individual is encoded according to the cover matrices of entities,and the coverage rate of program entities is used as the fitness function and the genetic algorithm is used to prioritize the selected test cases.Five typical open source projects are selected as benchmark programs.Branch and method are selected as program entities,and time constraint percentages a e 25%and 75%.The experimental results show that the ILP-GA convergence has faster speed and better stability than ILP-additional and IP-total in most cases,which contributes to the detection of software defects as early as possible and reduces the software testing costs.
基金Supported by the National 863 Broad Band VPN Project (No.863-104-03-01)
文摘DAC （Discretionary Access Control Policy） is access control based on ownership relations between subject and object, the subject can discretionarily decide on that who, by what methods, can access his owns object. In this paper, the system time is looked as a basic secure element. The DAC_T （Discretionary Access Control Policy with Time Character） is presented and formalized. The DAC_T resolves that the subject can discretionarily decide that who, on when, can access his owns objects. And then the DAC_T is implemented on Linux based on GFAC （General Framework for Access Control）, and the algorithm is put forward. Finally, the performance analysis for the DAC T Linux is carried out. It is proved that the DAC T Linux not only can realize time constraints between subject and object but also can still be accepted by us though its performance have been decreased.
