Acoustic waves in the pseudo-triaxial experiment system experience refraction phenomena.The conventional assumption that acoustic waves propagate along a straight line in traditional methods can lead to significant er...Acoustic waves in the pseudo-triaxial experiment system experience refraction phenomena.The conventional assumption that acoustic waves propagate along a straight line in traditional methods can lead to significant errors in localization results.To the end,this paper presents a method for locating acoustic emission(AE)sources in pseudo-triaxial experiments using shortest paths and orthogonal constraints.The approach consists of three main steps:(1)establishing control equations for refraction paths from AE sources to sensor locations;(2)calculating refraction point locations using the shortest travel principle and orthogonal constraints;(3)determining source coordinates using Taylor's first-order expansion.The results from laboratory AE experiments demonstrate that the average localization accuracy of the new method is only 6.5 mm,which is 66%more precise than the accuracy(19.4 mm)of the traditional method.Furthermore,simulation results indicate that the new method is not affected by the refraction ratio of the media and maintains the highest positioning accuracy across various arrival and velocity errors.展开更多
Existing curve fitting algorithms of NC machining path mainly focus on the control of fitting error,but ignore the problem that the original discrete cutter position points are not enough in the high curvature area of...Existing curve fitting algorithms of NC machining path mainly focus on the control of fitting error,but ignore the problem that the original discrete cutter position points are not enough in the high curvature area of the tool path.It may cause a sudden change in the drive force of the feed axis,resulting in a large fluctuation in the feed speed.This paper proposes a new non-uniform rational B-spline(NURBS)curve fitting optimization method based on curvature smoothing preset point constraints.First,the short line segments generated by the CAM software are optimally divided into different segment regions,and then the curvature of the short line segments in each region is adjusted to make it smoother.Secondly,a set of characteristic points reflecting the change of the curvature of the fitted curve is constructed as the control apex of the fitted curve,and the curve is fitted using the NURBS curve fitting optimization method based on the curvature smoothing preset point constraint.Finally,the curve fitting error and curve volatility are analyzed with an example,which verifies that the method can significantly improve the curvature smoothness of the high-curvature tool path,reduce the fitting error,and improve the feed speed.展开更多
This paper considers dealing with path constraints in the framework of the improved control vector iteration （CVI） approach. Two available ways for enforcing equality path constraints are presented, which can be dir...This paper considers dealing with path constraints in the framework of the improved control vector iteration （CVI） approach. Two available ways for enforcing equality path constraints are presented, which can be directly incorporated into the improved CVI approach. Inequality path constraints are much more difficult to deal with, even for small scale problems, because the time intervals where the inequality path constraints are active are unknown in advance. To overcome the challenge, the ll penalty function and a novel smoothing technique are in-troduced, leading to a new effective approach. Moreover, on the basis of the relevant theorems, a numerical algo-rithm is proposed for nonlinear dynamic optimization problems with inequality path constraints. Results obtained from the classic batch reaCtor operation problem are in agreement with the literature reoorts, and the comoutational efficiency is also high.展开更多
Path planning is crucial for autonomous flight of fixed-wing Unmanned Aerial Vehicles(UAVs).However,due to the high-speed flight and complex control of fixed-wing UAVs,ensuring the feasibility and safety of planned pa...Path planning is crucial for autonomous flight of fixed-wing Unmanned Aerial Vehicles(UAVs).However,due to the high-speed flight and complex control of fixed-wing UAVs,ensuring the feasibility and safety of planned paths in complex environments is challenging.This paper proposes a feasible path planning algorithm named Closed-loop Radial Ray A^(*)(CL-RaA^(*)).The core components of the CL-RaA^(*)include an adaptive variable-step-size path search and a just-in-time expansion primitive.The former enables fast path search in complex environments,while the latter ensures the feasibility of the generated paths.By integrating these two components and conducting safety checks on the trajectories to be expanded,the CL-RaA^(*)can rapidly generate safe and feasible paths that satisfy the differential constraints that comprehensively consider the dynamics and control characteristics of six-degree-of-freedom fixed-wing UAVs.The final performance tests and simulation validations demonstrate that the CL-RaA^(*)can generate safe and feasible paths in various environments.Compared to feasible path planning algorithms that use the rapidlyexploring random trees,the CL-RaA^(*)not only ensures deterministic planning results in the same scenarios but also generates smoother feasible paths for fixed-wing UAVs more efficiently.In environments with dense grid obstacles,the feasible paths generated by the CL-RaA^(*)are more conducive to UAV tracking compared to those planned using Dubins curves.展开更多
针对电力巡检场景的多无人机任务分配与路径规划问题,提出了一种最大航程约束的多无人机任务分配与路径规划算法。首先基于市场拍卖的方法引入了跳点搜索算法(jump point search,JPS)算法预估无人机到巡检任务以及巡检任务到巡检任务之...针对电力巡检场景的多无人机任务分配与路径规划问题,提出了一种最大航程约束的多无人机任务分配与路径规划算法。首先基于市场拍卖的方法引入了跳点搜索算法(jump point search,JPS)算法预估无人机到巡检任务以及巡检任务到巡检任务之间的最短避障路径长度,有效解决了任务分配和路径规划的耦合问题;其次,在优化目标函数中融合了无人机的最大航程约束,确保无人机可以在其最大续航能力内完成所分配到的巡检任务;最后,提出了一种懒惰的拍卖策略,在保证任务分配求解质量不变的情况下进一步提高了算法求解的收敛速度。实验结果表明,提出的方法相比于现有方法更符合续航能力有限的旋翼无人机作业需求,同时求解任务分配的时间最大减少了近40%。实验结果证明了所提方法的实用性和有效性。展开更多
This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobil...This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.展开更多
To obtain the near optimal path for the mobile robots in the present of the obstacles, where the robots are subject to both the nonholonomic constraints and the bound to the curvature of the path, a simple planning i...To obtain the near optimal path for the mobile robots in the present of the obstacles, where the robots are subject to both the nonholonomic constraints and the bound to the curvature of the path, a simple planning is applied by the heuristic searching method in which Reeds and Shepp’s shortest paths are chosen as heuristic functions. It has performed well in simulation of mobile robots moving in a cluttered environment.展开更多
An efficient QoS routing algorithm was proposed for multiple constrained path selection. Making use of efficient pruning policy, the algorithm reduces greatly the size of search space and the computing time. Although ...An efficient QoS routing algorithm was proposed for multiple constrained path selection. Making use of efficient pruning policy, the algorithm reduces greatly the size of search space and the computing time. Although the proposed algorithm has exponential time complexity in the worst case, it can get the running results quickly in practical application. When the scale of network increases, the algorithm can efficiently control the size of search space by constraint conditions and prior queue. The results of simulation show that successful request ratio ( r ) of efficient algorithm for multi-constrained optimal path (EAMCOP) is better than that of heuristic algorithm for multi-constrained optimal path (H-MCOP), but average computing time ( t ) of EAMCOP is far less than that of H-MCOP. And it can be seen that the computing time of EAMCOP is only one fourth of that of H-MCOP in Advanced Research Projects Agency Network (ARPANet) topology.展开更多
In the traffic equilibrium problem, we introduce capacity constraints of arcs, extend Beckmann’s formula to include these constraints, and give an algorithm for traffic equilibrium flows with capacity constraints on ...In the traffic equilibrium problem, we introduce capacity constraints of arcs, extend Beckmann’s formula to include these constraints, and give an algorithm for traffic equilibrium flows with capacity constraints on arcs. Using an example, we illustrate the application of the algorithm and show that Beckmann’s formula is a sufficient condition only, not a necessary condition, for traffic equilibrium with capacity constraints of arcs.展开更多
In a recent paper we have studied the Hamiltonian and path integral quantizations of the conformally gauge-fixed Polyakov D1 brane action in the instant-form of dynamics using the equal world-sheet time framework on t...In a recent paper we have studied the Hamiltonian and path integral quantizations of the conformally gauge-fixed Polyakov D1 brane action in the instant-form of dynamics using the equal world-sheet time framework on the hyperplanes defined by the world- sheet time . In the present work we quantize the same theory in the equal light-cone world-sheet time framework, on the hyperplanes of the light-front defined by the light-cone world-sheet time , using the standard constraint quantization techniques in the Hamiltonian and path integral formulations. The light-front theory is seen to be a constrained system in the sense of Dirac, which is in contrast to the corresponding case of the instant-form theory, where the theory remains unconstrained in the sense of Dirac. The light-front theory is seen to possess a set of twenty six primary second-class contraints. In the present work Hamiltonian and path integral quantizations of this theory are studied on the light-front.展开更多
基金the financial support provided by the National Key Research and Development Program for Young Scientists(Grant No.2021YFC2900400)the National Natural Science Foundation of China(Grant No.52304123)the China Postdoctoral Science Foundation(Grant No.2023M730412).
文摘Acoustic waves in the pseudo-triaxial experiment system experience refraction phenomena.The conventional assumption that acoustic waves propagate along a straight line in traditional methods can lead to significant errors in localization results.To the end,this paper presents a method for locating acoustic emission(AE)sources in pseudo-triaxial experiments using shortest paths and orthogonal constraints.The approach consists of three main steps:(1)establishing control equations for refraction paths from AE sources to sensor locations;(2)calculating refraction point locations using the shortest travel principle and orthogonal constraints;(3)determining source coordinates using Taylor's first-order expansion.The results from laboratory AE experiments demonstrate that the average localization accuracy of the new method is only 6.5 mm,which is 66%more precise than the accuracy(19.4 mm)of the traditional method.Furthermore,simulation results indicate that the new method is not affected by the refraction ratio of the media and maintains the highest positioning accuracy across various arrival and velocity errors.
基金the Open Foundation Project of Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology Open Fund Project.
文摘Existing curve fitting algorithms of NC machining path mainly focus on the control of fitting error,but ignore the problem that the original discrete cutter position points are not enough in the high curvature area of the tool path.It may cause a sudden change in the drive force of the feed axis,resulting in a large fluctuation in the feed speed.This paper proposes a new non-uniform rational B-spline(NURBS)curve fitting optimization method based on curvature smoothing preset point constraints.First,the short line segments generated by the CAM software are optimally divided into different segment regions,and then the curvature of the short line segments in each region is adjusted to make it smoother.Secondly,a set of characteristic points reflecting the change of the curvature of the fitted curve is constructed as the control apex of the fitted curve,and the curve is fitted using the NURBS curve fitting optimization method based on the curvature smoothing preset point constraint.Finally,the curve fitting error and curve volatility are analyzed with an example,which verifies that the method can significantly improve the curvature smoothness of the high-curvature tool path,reduce the fitting error,and improve the feed speed.
基金Supported by the National Natural Science Foundation of China(U1162130)the National High Technology Research and Development Program of China(2006AA05Z226)Outstanding Youth Science Foundation of Zhejiang Province(R4100133)
文摘This paper considers dealing with path constraints in the framework of the improved control vector iteration （CVI） approach. Two available ways for enforcing equality path constraints are presented, which can be directly incorporated into the improved CVI approach. Inequality path constraints are much more difficult to deal with, even for small scale problems, because the time intervals where the inequality path constraints are active are unknown in advance. To overcome the challenge, the ll penalty function and a novel smoothing technique are in-troduced, leading to a new effective approach. Moreover, on the basis of the relevant theorems, a numerical algo-rithm is proposed for nonlinear dynamic optimization problems with inequality path constraints. Results obtained from the classic batch reaCtor operation problem are in agreement with the literature reoorts, and the comoutational efficiency is also high.
基金supported by the National Natural Science Foundation of China(No.52272382)the Fundamental Research Funds for the Central Universities,China。
文摘Path planning is crucial for autonomous flight of fixed-wing Unmanned Aerial Vehicles(UAVs).However,due to the high-speed flight and complex control of fixed-wing UAVs,ensuring the feasibility and safety of planned paths in complex environments is challenging.This paper proposes a feasible path planning algorithm named Closed-loop Radial Ray A^(*)(CL-RaA^(*)).The core components of the CL-RaA^(*)include an adaptive variable-step-size path search and a just-in-time expansion primitive.The former enables fast path search in complex environments,while the latter ensures the feasibility of the generated paths.By integrating these two components and conducting safety checks on the trajectories to be expanded,the CL-RaA^(*)can rapidly generate safe and feasible paths that satisfy the differential constraints that comprehensively consider the dynamics and control characteristics of six-degree-of-freedom fixed-wing UAVs.The final performance tests and simulation validations demonstrate that the CL-RaA^(*)can generate safe and feasible paths in various environments.Compared to feasible path planning algorithms that use the rapidlyexploring random trees,the CL-RaA^(*)not only ensures deterministic planning results in the same scenarios but also generates smoother feasible paths for fixed-wing UAVs more efficiently.In environments with dense grid obstacles,the feasible paths generated by the CL-RaA^(*)are more conducive to UAV tracking compared to those planned using Dubins curves.
文摘针对电力巡检场景的多无人机任务分配与路径规划问题,提出了一种最大航程约束的多无人机任务分配与路径规划算法。首先基于市场拍卖的方法引入了跳点搜索算法(jump point search,JPS)算法预估无人机到巡检任务以及巡检任务到巡检任务之间的最短避障路径长度,有效解决了任务分配和路径规划的耦合问题;其次,在优化目标函数中融合了无人机的最大航程约束,确保无人机可以在其最大续航能力内完成所分配到的巡检任务;最后,提出了一种懒惰的拍卖策略,在保证任务分配求解质量不变的情况下进一步提高了算法求解的收敛速度。实验结果表明,提出的方法相比于现有方法更符合续航能力有限的旋翼无人机作业需求,同时求解任务分配的时间最大减少了近40%。实验结果证明了所提方法的实用性和有效性。
基金National Outstanding Youth Talents Support Program (No. 61822304)in part by the National Natural Science Foundation of China (No. 61673058)+3 种基金in part by NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization (No. U1609214)in part by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (No. 61621063)in part by the Projects of Major International (Regional) Joint Research Program NSFC (No. 61 720106011)in part by International Graduate Exchange Program of Beijing Institute of Technology.
文摘This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.
文摘To obtain the near optimal path for the mobile robots in the present of the obstacles, where the robots are subject to both the nonholonomic constraints and the bound to the curvature of the path, a simple planning is applied by the heuristic searching method in which Reeds and Shepp’s shortest paths are chosen as heuristic functions. It has performed well in simulation of mobile robots moving in a cluttered environment.
文摘An efficient QoS routing algorithm was proposed for multiple constrained path selection. Making use of efficient pruning policy, the algorithm reduces greatly the size of search space and the computing time. Although the proposed algorithm has exponential time complexity in the worst case, it can get the running results quickly in practical application. When the scale of network increases, the algorithm can efficiently control the size of search space by constraint conditions and prior queue. The results of simulation show that successful request ratio ( r ) of efficient algorithm for multi-constrained optimal path (EAMCOP) is better than that of heuristic algorithm for multi-constrained optimal path (H-MCOP), but average computing time ( t ) of EAMCOP is far less than that of H-MCOP. And it can be seen that the computing time of EAMCOP is only one fourth of that of H-MCOP in Advanced Research Projects Agency Network (ARPANet) topology.
文摘In the traffic equilibrium problem, we introduce capacity constraints of arcs, extend Beckmann’s formula to include these constraints, and give an algorithm for traffic equilibrium flows with capacity constraints on arcs. Using an example, we illustrate the application of the algorithm and show that Beckmann’s formula is a sufficient condition only, not a necessary condition, for traffic equilibrium with capacity constraints of arcs.
文摘In a recent paper we have studied the Hamiltonian and path integral quantizations of the conformally gauge-fixed Polyakov D1 brane action in the instant-form of dynamics using the equal world-sheet time framework on the hyperplanes defined by the world- sheet time . In the present work we quantize the same theory in the equal light-cone world-sheet time framework, on the hyperplanes of the light-front defined by the light-cone world-sheet time , using the standard constraint quantization techniques in the Hamiltonian and path integral formulations. The light-front theory is seen to be a constrained system in the sense of Dirac, which is in contrast to the corresponding case of the instant-form theory, where the theory remains unconstrained in the sense of Dirac. The light-front theory is seen to possess a set of twenty six primary second-class contraints. In the present work Hamiltonian and path integral quantizations of this theory are studied on the light-front.
