混沌局部搜索策略的差分进化算法

提出了一种应用混沌局部搜索策略的差分进化算法(CLSDE),在每一代中通过DE/best/2/bin形式的差分进化算法找到最佳个体,然后在最佳个体的附近用混沌的方法进行局部搜索.6个基本测试函数的优化结果表明:CLSDE寻优结果得到的最大值、最小值、平均值、标准差都比DE/best/2/bin好,而且收敛速度比DE/best/2/bin快.     

A novel particle swarm optimizer without velocity： Simplex-PSO

A simplex particle swarm optimization (simplex-PSO) derived from the Nelder-Mead simplex method was proposed to optimize the high dimensionality functions. In simplex-PSO, the velocity term was abandoned and its reference objectives were the best particle and the centroid of all particles except the best particle. The convergence theorems of linear time-varying discrete system proved that simplex-PSO is of consistent asymptotic convergence. In order to reduce the probability of trapping into a local optimal value, an extremum mutation was introduced into simplex-PSO and simplex-PSO-t (simplex-PSO with turbulence) was devised. Several experiments were carried out to verify the validity of simplex-PSO and simplex-PSO-t, and the experimental results confirmed the conclusions: (1) simplex-PSO-t can optimize high-dimension functions with 200-dimensionality; (2) compared PSO with chaos PSO (CPSO), the best optimum index increases by a factor of 1×10~2-1×10~4.     

具有混沌局部搜索策略的双种群遗传算法*

为提高遗传算法的局部和全局搜索能力,提出了一种具有混沌局部搜索策略的双种群遗传算法（CLSDPGA）。CLSDPGA中,一个作为探测种群,另一个作为开发种群。两个种群按照不同交叉概率和变异概率进行进化,每个种群每进化一代后就对其最优解进行混沌局部搜索。若搜索到更优的解,则取代原最优解直至搜索到预设的混沌次数,同时两个种群之间每10代进行一次移民操作。六个Benchmark函数的实验结果证明,CLSDPGA比另一种自适应局部搜索策略的遗传算法（a-hGA2）具有更好的寻优能力。     

变频调速在矿井提升机中的应用

本文以某矿务局矿井提升机改造为例,阐述了矿井提升机变频调速系统的构成和作用。以PLC为控制单元,用变频器对电动机进行调速的新型的矿井提升机运输系统有着广阔的发展前景。     

基于FPGA的便携式B超仪视频回放系统

设计并实现了一种基于FPGA的应用于便携式B超仪中的电影回放模块，在分析SDRAM的工作原理基础上，给出内嵌SDRAM控制器系统设计，并通过有限状态机对B超视频数据的采集与回放进行时序控制。使用VHDL语言实现，实时性高，可内嵌于使用FPGA的B超应用中。     

Global optimal path planning for mobile robot based on improved Dijkstra algorithm and ant system algorithm

A novel method of global optimal path planning for mobile robot was proposed based on the improved Dijkstra algorithm and ant system algorithm. This method includes three steps： the first step is adopting the MAK-LINK graph theory to establish the free space model of the mobile robot, the second step is adopting the improved Dijkstra algorithm to find out a sub-optimal collision-free path, and the third step is using the ant system algorithm to adjust and optimize the location of the sub-optimal path so as to generate the global optimal path for the mobile robot. The computer simulation experiment was carried out and the results show that this method is correct and effective. The comparison of the results confirms that the proposed method is better than the hybrid genetic algorithm in the global optimal path planning.     

遗传算法在蚁群算法中的融合研究

提出一种新的求连续空间最优值的蚁群算法.结合遗传算法和蚁群算法的各自优点以及两种算法融合的基础,提出遗传算法融入到蚁群算法的两种新策略:第一种策略是先利用遗传算法具有比较强的全局搜索能力,在大范围内寻找一组解,然后以此为基础,用蚁群算法快速寻找最优解X*best;另一种策略是利用遗传算法的交叉操作产生蚁群算法的新的旅行路径,以此提高蚁群算法的全局搜索能力.用上述两种策略构造了两个基于遗传算法的混合蚁群算法.文中用测试函数Rosenbrock和Shubert从收敛速度、命中率、计算精度等方面验证了混合蚁群算法的正确性.     

基于改进的人工免疫算法的函数优化

为了提高算法的运行速度和收敛速度,确保算法收敛到全局最优,以及提高群体的多样性和整体品质,提出了基于百分比表示的抗体相似度、期望繁殖率以及克隆选择概率的定义方法和计算公式,并结合精英策略(elitism strategy)提出了一种改进的人工免疫算法,(Artificial Immune Algorithm with Elitism,AIAE).用AIAE对测试函数F15进行仿真实验,结果表明所提算法能以较快的速度搜索到函数的全局最优解,并且解的波动性很小、解的质量很高.因此可将该算法用来优化由本项目设计组设计的智能人工腿中的控制器.     

Real-time accurate hand path tracking and joint trajectory planning for industrial robots(Ⅱ)

Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on-line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.