基于蚁群算法的移动机器人智能路径规划应用

随着机器人在各领域的广泛应用和人工智能的不断发展,路径规划研究作为机器人应用领域的重要课题受到越来越多的关注。文章分析了机器人发展现状以及路径规划算法,重点阐述了智能路径规划与传统路径规划的优缺点,利用蚁群算法对移动机器人路径规划中实际应用问题进行了研究,并提供一些实际解决方案。     

基于激光定位的机器人加工轨迹规划

随着机械化生产的逐渐实现,加工机器人的应用范围越来越广泛。在此背景下,为提高机器人加工精度,针对基于机器视觉、COMS工业相机以及CAM的三种机器人加工轨迹规划方法无法准确跟踪给定轨迹,导致规划轨迹与期望轨迹存在较大误差的问题,提出一种基于激光定位的机器人加工轨迹规划方法。该方法首先利用激光雷达方法测量机器人与待加工目标之间的相关信息,然后利用激光跟踪仪进行误差标定,最后将误差标定结果作为改进蚁群算法迭代条件,通过多次迭代生成机器人加工轨迹。实验测试结果表明:与基于机器视觉的规划方法、基于COMS工业相机的规划方法以及基于CAM的规划方法相比,基于激光定位的机器人加工轨迹规划方法应用下,规划轨迹与期望轨迹拟合优度提高0. 07、0. 05、0. 08,轨迹定位误差较小,基本达到预期目标。     

基于遗传算法的足球机器人路径规划

足球机器人系统是一个智能型系统,并且处于一个具有实时对抗性的动态的复杂环境系统中。路径规划层是机器人决策系统的核心之一。本文研究了足球机器人系统的运动学原理,讨论了遗传算法在足球机器人路径规划中的应用,使机器人能避开障碍物从给定点到目标点找到一条比较短的路径,进行仿真实验,比较了不同遗传代数对路径规划的影响。     

基于混合智能算法的机器人避障路径规划研究

为提高智能机器人在市场内的使用率,优化机器人的使用性能,开展基于混合智能算法的机器人避障路径规划方法的设计。结合动力学扰动行为的分析,获取机器人不同关节有效运动参数,通过对不同运动姿态的有效融合,建立机器人障碍规划运动学模型;基于栅格法,对障碍物环境进行网格划分,基于蚁群算法,定位机器人避障最优参数,以此实现对避障路径规划中参数的设定;利用OAO的局部定位与全局检索能力,构建一个环境障碍物随机树,将其与蒙特卡洛算法进行融合,进行机器人规划初步行进路径的设计。实验结果证明,设计的路径规划方法,在实际应用中,可以起到缩短并优化避障路径的作用,以此种方式,提高机器人行进的速度与效率。     

人工智能技术在数字媒体领域的应用

探讨数字媒体和人工智能技术的概念、核心技术以及它们在图像识别、语音识别、自然语言处理、专家系统和机器人等方面的应用，分析其未来发展趋势及其给数字媒体领域带来的影响，推动数字媒体产业的进一步发展。     

免疫算法在移动机器人路径规划中的应用

具体阐述了免疫算法在移动机器人路径规划中的应用,使机器人从给定点到目标点可以有效地躲避障碍物而且找到一条最短的路径;构建了机器人的数学模型和亲和力函数,并且说明了机器人的控制方式,给出了算法的具体实现步骤以及仿真实验。实验结果表明,免疫算法在应用到移动机器人路径规划时具有良好的性能。     

面向空间机器人在轨操控的任务规划模型研究

任务规划技术是空间机器人实现自主在轨操控的核心,要进行规划问题的求解,必须要将实际的规划问题变为计算机可理解语义的数据模型。虽然目前在人工智能规划领域有多个成熟模型,且描述能力已经较为完备,但是由于空间机器人在轨工作的特殊性,还没有一种规划模型可以直接应用。根据空间机器人任务规划的要素和关系特性,在规划领域定义语言(PDDL)的基础上拓展了对资源和活动实例的定义,活动的持续时间和活动效果属性,提高了描述的准确性。     

基于模糊认知图的机器人高层规划研究

本文采用模糊认知图模拟机器人在复杂环境下的动态行为,来对机器人进行高层规划.基于模糊认知图的机器人高层规划系统不仅在一定程度上克服了基于符号机器人规划存在的不适用于含有许多独立子问题或子系统的大系统及机器人之间的合作与协调机制较难寻找等问题,而且还能有效克服基于进化机器人、基于神经网络机器人进行动态行为规划时算法和实现的高度复杂性、需要大量的训练样本及时间、易产生干扰等问题.实验表明把模糊认知图应用到机器人高层规划系统能较好的解决以上问题,且具有简单、鲁棒等特点.     

ROS环境下的机器人仿真模型构建方法研究

在众多的机器人仿真平台中,ROS可以封装机器人硬件。提出在ROS环境下构建机器人的仿真模型方法。设计了机器人仿真模型的导入方法及过程,利用所提方法将模型导入具体的应用实例。将Solid Works装配文件解析成机器人模型的URDF文件,并在Move It!中进行验证。结果表明,该仿真模型构建的方法是有效的,模型是可操作的,为后续的机器人运动规划和轨迹规划问题的研究提供了易实现和易操作的机器人模型。     

工业机器人空间轨迹仿真分析

机器人的建模与轨迹规划是机器人控制的基础。针对ABB_IRB120型工业机器人的结构特点,通过D-H法建立数学模型,运用蒙特卡洛法分析工作空间。文中采用MATLAB Robotics Toolbox对该型机器人进行运动学仿真和两点之间的点对点轨迹规划。针对Robotics Toolbox轨迹规划功能的局限性,通过二次开发,增加了循环算法,扩展该工具箱的轨迹规划应用范围,使模拟的机器人末端执行器能够生成连续的复杂空间运动曲线。最后对平面余弦曲线及空间螺旋曲线进行实时仿真,结果显示所生成的轨迹与设定轨迹基本吻合,运动参数有效性达到95.2%以上,证明了该算法的可行性和有效性。     

一种工程中实用的WGS-84到BJ-54坐标系转换方法

在规划设计等工程应用中经常使用GPS卫星定位系统来确定现状及规划线路,得到的是以大地坐标系为基础的WGS-84坐标系数据,而目前规划设计项目中普遍使用的又是以1954年北京坐标系为基础的坐标数据,因此必须给出WGS-84坐标转换到BJ-54坐标系的转换方法,本文对这两种坐标系转换模型进行了分析,并给出了在AutoCAD工程设计中的一个实用LSP描点程序,通过工程实践,得到了很好的工程效果.     

PCB企业拉式生产计划

在ERP系统已经发展30多年的今天,计划排程系统已经发展非常成熟,不论是理论研究还是产品落地都有长足发展,如JIT、APS(先进排程)等先进理论都已经有成功的应用。但遗憾的是印制板这个特殊的行业因为规模较小,并且生产过程复杂到现在还没有成熟的解决方案。本文旨在结合原理、印制板企业手工生产计划思路,希望为印制板企业计划排程提供一个可以操作方案。     

A methodology for product mix planning in semiconductor foundrymanufacturing

Since a semiconductor foundry plant manufactures a wide range of memory and logic products using the make-to-order business model, the product mix is an important production decision. This paper first describes the characteristics of the product mix planning problem in foundry manufacturing that are attributable to the long flow time and queuing network behaviors. The issues of time bucket selection, mix optimization and bottleneck-based planning are next addressed. A decision software system based on integer linear programming techniques and a heuristic procedure has been implemented for mix planning. Data provided by a wafer plant has been used to study problems related to product mix planning. It was determined that the suitable time bucket of planning is either one week or one month and the lead-time offset factor should be included in the logic of workload calculation. This paper also presents various facets of product mix decisions and how they should be integrated with operations management     

Resource allocation planning helper (ralph): Lessons learned

The Jet Propulsion Laboratory's (JPL) Resource Allocation Process incorporated the decision-making software system RALPH into the planning process four years ago. The principal task of the Resource Allocation Process includes the planning and apportionment of JPL's Ground Data System composed of the Deep Space Network and Mission Control and Computing Center facilities. The addition of the data-driven, rule-based planning system, RALPH, has expanded the planning horizon from eight weeks to 10 years and has resulted in significant labor savings. Use of the system has also resulted in important improvements in science return through enhanced resource utilization. In addition, RALPH has been instrumental in supporting rapid turn around for an increased volume of special “what if” studies.

This paper reviews the status of RALPH and focuses on important lessons learned from the creation of a highly functional design team, through an evolutionary design and implementation period, and through the fundamental changes to the process that spawned the tool kit. Principal topics include proper integration of software tools within the planning environment, transition from prototype to delivered software, changes in the planning methodology as a result of evolving software capabilities, and creation of the ability to develop and process generic requirements to allow planning flexibility.     

TD-SCDMA和WCDMA系统以及HSDPA的容量覆盖分析

作为3G的增强型技术的HSDPA已经越来越受到重视,在WCDMA系统网络规划中HSDPA的规划方法研究的较多。由于TD-SCDMA标准出现较晚,对应其引入HSDPA后的规划还不太成熟。本文分别阐述了两系统的网络规划的基本方法,分析探讨了其中的异同,从而更好地指导下一步TD-SCDMA无线网络规划。     

A new system for computer-aided preoperative planning and intraoperative navigation during corrective jaw surgery.

A new system for computer-aided corrective surgery of the jaws has been developed and introduced clinically. It combines three-dimensional (3-D) surgical planning with conventional dental occlusion planning. The developed software allows simulating the surgical correction on virtual 3-D models of the facial skeleton generated from computed tomography (CT) scans. Surgery planning and simulation include dynamic cephalometry, semi-automatic mirroring, interactive cutting of bone and segment repositioning. By coupling the software with a tracking system and with the help of a special registration procedure, we are able to acquire dental occlusion plans from plaster model mounts. Upon completion of the surgical plan, the setup is used to manufacture positioning splints for intraoperative guidance. The system provides further intraoperative assistance with the help of a display showing jaw positions and 3-D positioning guides updated in real time during the surgical procedure. The proposed approach offers the advantages of 3-D visualization and tracking technology without sacrificing long-proven cast-based techniques for dental occlusion evaluation. The system has been applied on one patient. Throughout this procedure, we have experienced improved assessment of pathology, increased precision, and augmented control.     

地理信息系统在城市规划管理中的应用

近年来,GIS技术在各个领域内的应用逐渐广泛。地理信息系统的最主要应用方式就是在城市规划管理中发挥作用,文章从城市规划管理建设的角度对GIS系统的合理开发和应用展开讨论。     

A Sales Planning and Analysis System

Sales planning and analysis primarily using sales data has been effectively performed with the market early warning system (MEWS). Exception reports indicate both short-term deviations from trend and long-term trend changes. Examples are given of the on-going exception reporting, sales analysis, and planning capabilities currently available in MEWS. The examples also illustrate how MEWS can aid the further development of management information systems.     

Agent-Based Approach to Mass-Oriented Production Planning: Case Study

This paper discusses the potential of multiagent planning techniques in the production-planning domain, with special focus on mass-oriented production. The research presented in the paper has been centered around ExPlanTech-a specific implementation of a production-planning multiagent system. Suitability of ExPlanTech for mass-oriented and project-driven manufacturing is also discussed in the paper. Applicability of multiagent concepts is demonstrated on a multiagent planning architecture and production-planning case study at a Skoda Auto Engine Plant     

FMS planning decisions, operating flexibilities, and systemperformance

Flexibility of manufacturing systems (FMS) has been conventionally associated with their ability to manufacture a variety of part types. However, flexible automation has introduced several process-oriented dimensions to flexibility. The impact of these dimensions on system performance needs to be better understood in order to evaluate the desirability of flexible automation for any company. This paper considers the role of system planning in determining operating flexibility and system performance. The authors argue that while the overall flexibility of any system is constrained by decisions made at the system design stage, the realized short-term flexibility depends significantly also upon planning decisions made during preproduction setup. Different planning objectives lead to different system configurations, and simultaneously yield varying levels of process-oriented flexibility. The authors also give a scheme for classifying different types of flexibilities, and use this scheme to present an illustrative comparison of conventional and flexible manufacturing methods for the two extremes of high volume/low variety and low volume/high variety manufacture. The authors observe that the inverse relationship that exists between flexibility and productivity for conventional manufacturing systems does not necessarily carry over to FMSs