基于改进快速扩展随机树的机械臂路径规划

针对机械臂路径规划问题,提出一种基于改进RRT算法的路径规划方法。改进RRT结合了目标偏置策略和贪婪生长策略的优点,在随机采样时,以一定概率使采样点偏置为目标节点,降低随机采样的盲目性,在目标节点方向上采用贪婪式扩展策略,增加随机树局部方向上的生长速度。RRT法规划路径结果并非最优,提出改进GPP法删除多余路径节点,优化机械臂运动路径。通过与Biased-RRT和Greedy-RRT数值仿真结果对比,证明了改进RRT在计算时间、迭代次数、扩展节点数上均优于以上方法。在机械臂两种典型工作环境中的仿真结果表明,使用该方法可以较好解决排爆机械臂避障路径规划问题。     

一类马尔可夫人才系统中的工龄和职龄

用马尔可夫模型研究人才系统中工龄和职龄问题的一般方法都要按职务等级、工龄或职龄来划分系统状态。本文在只以职务等级划分系统状态的一类无降级且逐级晋升的齐次马尔可夫人才系统中讨论了工龄和职龄问题,得到直观描述工龄和职龄的计算结果,并通过一实例说明了本方法的应用价值。     

针对突发威胁的无人机多机协同路径规划的方法

在无人机多机协同路径规划中,采用V orono i图方法,引入协同变量和协同函数,产生关于已知威胁的路径,使各架无人机能够同时到达目标。在此基础上,利用集合点规划状态图,针对作战过程中的突发威胁实时进行路径规划,从而得到各架飞机的几何路径。仿真结果表明集合点规划状态图的使用对于无人机多机协同路径规划中的突发威胁问题的求解是有效的。     

Models for production planning under power interruptions

We present a robust optimization model for production planning under the assumption that electricity supply is subject to uncertain interruptions caused by participation in interruptible load contracts (ILCs). The objective is to minimize the cost of electricity used for production while providing a robust production plan which ensures demand satisfaction under all possible interruption scenarios. The combinatorial size of the set of interruption scenarios makes this a challenging problem. Furthermore, we assume that no probabilistic information is known about the supply uncertainty: we only use the information given in the ILC to identify an uncertainty set that captures the possible scenarios. We construct a general robust framework to handle this uncertainty and present a heuristic to compute a good feasible solution of the robust model. We provide computational experiments on a real‐world example and compare the performance of an exact solver applied to the robust model with that of the heuristic procedure. Finally, we include the operational impact of interruptions such as “recovery modes” in the definition of the uncertainty set. © 2013 Wiley Periodicals, Inc. Naval Research Logistics, 2013     

The failure of defense planning in European Post-Communist Defense Institutions: ascertaining causation and determining solutions

By any objective measure, defense institutions in Central and Eastern Europe have all but universally been incapable of producing viable defense plans that are based on objective costing and operational planning data. This situation exists in spite the provision of considerable Western advice and assistance, let alone reporting to and receiving assessments by NATO’s International Staff under Partnership for Peace, as well as via the integrated defense planning and reporting systems. An explanation for this systematic failure across European post-Communist defense institutions can be found in the continued slow development of an over-arching policy framework which directs and approves all activities of the armed forces, as well as the de-centralization of financial decision-making down to capability providers. The essay ends with an examination of the adverse effects of the early introduction of planning programming, budgeting system (PPBS), have had on the development of effective policy and planning capabilities within these defense institutions.     

水面舰艇编队空中威胁扇面角预测模型

针对水面舰艇编队空中威胁扇面角的预测问题,分析了影响空中威胁扇面角大小的主要因素。以具有航路规划能力的远程反舰导弹为对象,从航空兵及远程反舰导弹的作战使用特点和装备性能限制着手,建立了计算威胁扇面角的数学模型。通过仿真分析,得出了主要参数对威胁扇面角的影响规律,为水面舰艇编队对空防御兵力的配置提供了依据。     

基于辅助制导的无人飞行器有向航迹网络图设计

基于辅助制导的无人飞行器多航迹规划是现今航迹规划的主流研究方向之一。飞行器规划空间广,规划过程耗时长,如何提高航迹规划的速度是一个急待解决的问题。因此,提出了一种在预处理过程中生成的、满足战场环境和基于辅助制导无人飞行器飞行特性的有向航迹网络图。该网络图适用于基于辅助制导的无人飞行器多航迹快速规划,使用数据库存储和管理,具有整体数据结构化、易扩充、占用内存资源小、可大大缩短规划时间等优点。     

多无人机梯次攻击航路规划

为了解决多无人机协同攻击航路规划问题,基于一种雷达威胁等效方法,以及无人机在不同姿态下雷达散射截面RCS(Radar Cross-Section)值随之改变的特性,结合多机作战战术思想,提出了一种多无人机梯次协同攻击同一目标的方法,并利用Dijkstra算法进行多无人机航路规划.仿真结果表明,该方法具有更高的应用价值.     

Integrated production scheduling and preventive maintenance planning for a single machine under a cumulative damage failure process

This paper finds the optimal integrated production schedule and preventive maintenance plan for a single machine exposed under a cumulative damage process, and investigates how the optimal preventive maintenance plan interacts with the optimal production schedule. The goal is to minimize the total tardiness. The optimal policy possesses the following properties: Under arbitrary maintenance plan when jobs have common processing time, and different due dates, the optimal production schedule is to order the jobs by earliest due date first rule; and when jobs have common due date and different processing times, the optimal production schedule is shortest processing time first. The optimal maintenance plan is of control limit type under any arbitrary production schedule when machine is exposed under a cumulative damage failure process. Numerical studies on the optimal maintenance control limit of the maintenance plan indicate that as the number of jobs to be scheduled increases, the effect of jobs due dates on the optimal maintenance control limit diminishes. © 2007 Wiley Periodicals, Inc. Naval Research Logistics, 2007     

基于智能Agent的军事后勤计划生成方法

军事后勤计划是一个复杂的过程,包括地理上分布的组织和信息的协同、繁杂的计算和分析.这使得在有限的时间内制定好后勤计划变得非常困难.基于Agent的后勤计划系统(LPS)是为了后勤计划者开发的支持系统.在LPS中用智能Agent建立军事后勤计划过程中的事务处理、组织或信息实体交互的模型,收集和分析相关信息,自动生成军事后勤计划.