一种应用于移动机器人的路径跟踪控制方法

针对移动机器人的路径跟踪复杂性问题,设计了一种易于实现的控制系统,其中的跟踪策略改进了传统的视线导航算法,使机器人光滑趋近到期望路径,控制器的设计采用基于模糊逻辑的变速度控制和角速度滑模控制,减小了角速度的抖振,并使控制具有一定的智能化特点.实验结果表明,设计的控制系统即可以保证路径跟踪的精度,同时避免了运动控制的不稳定性.     

The building evacuation problem with shared information

In this article, the Building Evacuation Problem with Shared Information (BEPSI) is formulated as a mixed integer linear program, where the objective is to determine the set of routes along which to send evacuees (supply) from multiple locations throughout a building (sources) to the exits (sinks) such that the total time until all evacuees reach the exits is minimized. The formulation explicitly incorporates the constraints of shared information in providing online instructions to evacuees, ensuring that evacuees departing from an intermediate or source location at a mutual point in time receive common instructions. Arc travel time and capacity, as well as supply at the nodes, are permitted to vary with time and capacity is assumed to be recaptured over time. The BEPSI is shown to be NP‐hard. An exact technique based on Benders decomposition is proposed for its solution. Computational results from numerical experiments on a real‐world network representing a four‐story building are given. Results of experiments employing Benders cuts generated in solving a given problem instance as initial cuts in addressing an updated problem instance are also provided. © 2008 Wiley Periodicals, Inc. Naval Research Logistics, 2008     

Adjacency‐based local top‐down search method for finding maximal efficient faces in multiple objective linear programming

It is well‐known that the efficient set of a multiobjective linear programming (MOLP) problem can be represented as a union of the maximal efficient faces of the feasible region. In this paper, we propose a method for finding all maximal efficient faces for an MOLP. The new method is based on a condition that all efficient vertices (short for the efficient extreme points and rays) for the MOLP have been found and it relies on the adjacency, affine independence and convexity results of efficient sets. The method uses a local top‐down search strategy to determine maximal efficient faces incident to every efficient vertex for finding maximal efficient faces of an MOLP problem. To our knowledge, the proposed method is the first top‐down search method that uses the adjacency property of the efficient set to find all maximal efficient faces. We discuss this and other advantages and disadvantages of the algorithm. We also discuss some computational experience we have had with our computer code for implementing the algorithm. This computational experience involved solving several MOLP problems with the code.     

飞机反区速度矢量不稳定及其控制的机理

在信号流图的基础上,提出多回路分析的方法,并用于研究反区时速度矢量不稳定及其稳定控制的机理。建立了纵向动力学的信号流图,并证明了一个回路的收敛性定理。在此基础上,通过理论分析得出了速度矢量不稳定在不同层面上的原因,也得出了速度和轨迹的发散度表达式等,并表明阻力-速度曲线、轨迹角-速度曲线、极曲线、阻力系数曲线等存在相互对应的反区和正区,并且阻力-速度曲线和轨迹角-速度曲线在斜率上成比例。研究得出进场动力补偿系统下速度矢量的稳定临界条件、收敛度、稳定机理等,理论分析和仿真比较了速度恒定进场动力补偿系统和迎角恒定进场动力补偿系统在控制性能上的差异。     

模糊变权法在通信保障能力评估中的应用

分析了通信保障应注重提高的六种能力,给出了运用模糊变权法求变化权重的方法,并通过示例计算进行分析,得出结论,为通信保障能力评估提供了一定的理论依据。     

模糊-专家控制在智能消磁中的应用研究

综合消磁是处理舰船固定磁性的重要手段.长期以来,由于综合消磁工艺的复杂性,使得这项工作在很大程度上依赖人工.实现消磁自动化,就是要将工作人员从繁重的脑体劳动中解放出来,提高工作效率.目前的新型消磁站已经实现了数据采集、统计自动化,不仅基本免除了工作人员的体力劳动,也从一定程度上减轻了消磁技师的脑力劳动.然而由于需要人工参与决策,综合消磁的效果和效率仍然十分依赖于人的因素.所以,实现综合消磁工作的完全自动化,补偿电流值组合的智能化决策是关键问题.本文在分析以前所做工作的基础上,运用模糊控制理论构造模糊-专家控制器,替代人工决策过程以实现自动化消磁.     

Neighborhood search heuristics for selecting hierarchically well‐formulated subsets in polynomial regression

The importance of subset selection in multiple regression has been recognized for more than 40 years and, not surprisingly, a variety of exact and heuristic procedures have been proposed for choosing subsets of variables. In the case of polynomial regression, the subset selection problem is complicated by two issues: (1) the substantial growth in the number of candidate predictors, and (2) the desire to obtain hierarchically well‐formulated subsets that facilitate proper interpretation of the regression parameter estimates. The first of these issues creates the need for heuristic methods that can provide solutions in reasonable computation time; whereas the second requires innovative neighborhood search approaches that accommodate the hierarchical constraints. We developed tabu search and variable neighborhood search heuristics for subset selection in polynomial regression. These heuristics are applied to a classic data set from the literature and, subsequently, evaluated in a simulation study using synthetic data sets. © 2009 Wiley Periodicals, Inc. Naval Research Logistics, 2010     

横向效应增强型弹垂直侵彻薄靶的轴向剩余速度理论分析

为了得到横向效应增强型弹（Penetration with Enhanced Lateral Efficiency projectile, PELE）对金属薄靶垂直侵彻后的弹体轴向剩余速度，运用平面冲击波理论，对PELE的侵彻机理进行分析。参照平头弹体对靶板的侵彻模型，将PELE侵彻过程中的能量损失划分为以下几个部分：外壳体和内芯撞靶区域对应的环形塞块获得的能量、冲击波作用下弹体的内能增量以及剪切耗能等。然后根据能量守恒原理，得到PELE垂直侵彻金属薄靶后的PELE弹体轴向剩余速度的理论模型。为了验证该模型的合理性和准确性，设计相应的试验进行验证。结果表明，不同条件下得到的试验结果和理论模型得到的计算结果均吻合得较好。因此，得到的PELE垂直侵彻薄靶的轴向剩余速度理论模型可为工程应用提供指导和参考。     

大型相控阵雷达系统安全性综合评价

针对大型相控阵雷达系统安全性因素多、评价困难的特点，分析并建立了大型相控阵雷达系统安全评价指标体系。提出了一种基于改进模糊层次分析法、熵权法和拉格朗日算法确定综合权重的方法，并建立了雷达系统安全性模糊综合评价模型。以某型大型相控阵雷达系统的安全性评价为例，运用所提方法确定该雷达系统的安全性指标综合权重，并进行安全性综合评价。将该方法与传统AHP评价法进行对比分析，验证了该方法的科学性和合理性。     

模糊偏序关系的一种信息集成方法

以模糊超过关系、模糊不协调关系为例,就模糊偏序关系给出了一种基于分组加权极大(极小)算子的信息集成方法,讨论了该方法的一致性、非独裁性等性质.