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Multi-objective optimization of grinding process parameters for improving gear machining precision 被引量:1
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作者 YOU Tong-fei HAN Jiang +4 位作者 TIAN Xiao-qing TANG Jian-ping LU Yi-guo LI Guang-hui XIA Lian 《Journal of Central South University》 2025年第2期538-551,共14页
The gears of new energy vehicles are required to withstand higher rotational speeds and greater loads,which puts forward higher precision essentials for gear manufacturing.However,machining process parameters can caus... The gears of new energy vehicles are required to withstand higher rotational speeds and greater loads,which puts forward higher precision essentials for gear manufacturing.However,machining process parameters can cause changes in cutting force/heat,resulting in affecting gear machining precision.Therefore,this paper studies the effect of different process parameters on gear machining precision.A multi-objective optimization model is established for the relationship between process parameters and tooth surface deviations,tooth profile deviations,and tooth lead deviations through the cutting speed,feed rate,and cutting depth of the worm wheel gear grinding machine.The response surface method(RSM)is used for experimental design,and the corresponding experimental results and optimal process parameters are obtained.Subsequently,gray relational analysis-principal component analysis(GRA-PCA),particle swarm optimization(PSO),and genetic algorithm-particle swarm optimization(GA-PSO)methods are used to analyze the experimental results and obtain different optimal process parameters.The results show that optimal process parameters obtained by the GRA-PCA,PSO,and GA-PSO methods improve the gear machining precision.Moreover,the gear machining precision obtained by GA-PSO is superior to other methods. 展开更多
关键词 worm wheel gear grinding machine gear machining precision machining process parameters multi objective optimization
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Rotary unmanned aerial vehicles path planning in rough terrain based on multi-objective particle swarm optimization 被引量:26
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作者 XU Zhen ZHANG Enze CHEN Qingwei 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2020年第1期130-141,共12页
This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain environment.This approach aims to find collision-free and feasible paths with minimum altitude,le... This paper presents a path planning approach for rotary unmanned aerial vehicles(R-UAVs)in a known static rough terrain environment.This approach aims to find collision-free and feasible paths with minimum altitude,length and angle variable rate.First,a three-dimensional(3D)modeling method is proposed to reduce the computation burden of the dynamic models of R-UAVs.Considering the length,height and tuning angle of a path,the path planning of R-UAVs is described as a tri-objective optimization problem.Then,an improved multi-objective particle swarm optimization algorithm is developed.To render the algorithm more effective in dealing with this problem,a vibration function is introduced into the collided solutions to improve the algorithm efficiency.Meanwhile,the selection of the global best position is taken into account by the reference point method.Finally,the experimental environment is built with the help of the Google map and the 3D terrain generator World Machine.Experimental results under two different rough terrains from Guilin and Lanzhou of China demonstrate the capabilities of the proposed algorithm in finding Pareto optimal paths. 展开更多
关键词 unmanned aerial vehicle(UAV) path planning multiobjective optimization particle swarm optimization
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A decision support system for satellite layout integrating multi-objective optimization and multi-attribute decision making 被引量:3
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作者 LIANG Yan’gang QIN Zheng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2019年第3期535-544,共10页
A decision support system, including a multi-objective optimization framework and a multi-attribute decision making approach is proposed for satellite equipment layout. Firstly, given three objectives (to minimize the... A decision support system, including a multi-objective optimization framework and a multi-attribute decision making approach is proposed for satellite equipment layout. Firstly, given three objectives (to minimize the C.G. offset, the cross moments of inertia and the space debris impact risk), we develop a threedimensional layout optimization model. Unlike most of the previous works just focusing on mass characteristics of the system, a space debris impact risk index is developed. Secondly, we develop an efficient optimization framework for the integration of computer-aided design (CAD) software as well as the optimization algorithm to obtain the Pareto front of the layout optimization problem. Thirdly, after obtaining the candidate solutions, we present a multi-attribute decision making approach, which integrates the smart Pareto filter and the correlation coefficient and standard deviation (CCSD) method to select the best tradeoff solutions on the optimal Pareto fronts. Finally, the framework and the decision making approach are applied to a case study of a satellite platform. 展开更多
关键词 layout OPTIMIZATION SATELLITE multi-objective OPTIMIZATION PARETO FRONT multi-ATTRIBUTE decision making
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Multi-objective Optimal Generation Dispatch With Consideration of Operation Risk 被引量:4
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作者 QIU Wei ZHANG Jianhua +2 位作者 LIU Nian ZHU Xingyang LIU Lihua 《中国电机工程学报》 EI CSCD 北大核心 2012年第22期I0009-I0009,共1页
关键词 多目标优化 发电调度 操作 风险 经济调度 经济发展 燃料成本 安全约束
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Multi-objective workflow scheduling in cloud system based on cooperative multi-swarm optimization algorithm 被引量:2
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作者 YAO Guang-shun DING Yong-sheng HAO Kuang-rong 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第5期1050-1062,共13页
In order to improve the performance of multi-objective workflow scheduling in cloud system, a multi-swarm multiobjective optimization algorithm(MSMOOA) is proposed to satisfy multiple conflicting objectives. Inspired ... In order to improve the performance of multi-objective workflow scheduling in cloud system, a multi-swarm multiobjective optimization algorithm(MSMOOA) is proposed to satisfy multiple conflicting objectives. Inspired by division of the same species into multiple swarms for different objectives and information sharing among these swarms in nature, each physical machine in the data center is considered a swarm and employs improved multi-objective particle swarm optimization to find out non-dominated solutions with one objective in MSMOOA. The particles in each swarm are divided into two classes and adopt different strategies to evolve cooperatively. One class of particles can communicate with several swarms simultaneously to promote the information sharing among swarms and the other class of particles can only exchange information with the particles located in the same swarm. Furthermore, in order to avoid the influence by the elastic available resources, a manager server is adopted in the cloud data center to collect the available resources for scheduling. The quality of the proposed method with other related approaches is evaluated by using hybrid and parallel workflow applications. The experiment results highlight the better performance of the MSMOOA than that of compared algorithms. 展开更多
关键词 multi-objective WORKFLOW scheduling multi-swarm OPTIMIZATION particle SWARM OPTIMIZATION (PSO) CLOUD computing system
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Overview of multi-objective optimization methods 被引量:2
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作者 LeiXiujuan ShiZhongke 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2004年第2期142-146,共5页
To assist readers to have a comprehensive understanding, the classical and intelligent methods roundly based on precursory research achievements are summarized in this paper. First, basic conception and description ab... To assist readers to have a comprehensive understanding, the classical and intelligent methods roundly based on precursory research achievements are summarized in this paper. First, basic conception and description about multi-objective (MO) optimization are introduced. Then some definitions and related terminologies are given. Furthermore several MO optimization methods including classical and current intelligent methods are discussed one by one succinctly. Finally evaluations on advantages and disadvantages about these methods are made at the end of the paper. 展开更多
关键词 multi-objective optimization objective function Pareto optimality genetic algorithms simulated annealing fuzzy logical.
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Multi-objective evolutionary optimization for geostationary orbit satellite mission planning 被引量:4
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作者 Jiting Li Sheng Zhang +1 位作者 Xiaolu Liu Renjie He 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2017年第5期934-945,共12页
In the past few decades, applications of geostationary orbit (GEO) satellites have attracted increasing attention, and with the development of optical technologies, GEO optical satellites have become popular worldwide... In the past few decades, applications of geostationary orbit (GEO) satellites have attracted increasing attention, and with the development of optical technologies, GEO optical satellites have become popular worldwide. This paper proposes a general working pattern for a GEO optical satellite, as well as a target observation mission planning model. After analyzing the requirements of users and satellite control agencies, two objectives are simultaneously considered: maximization of total profit and minimization of satellite attitude maneuver angle. An NSGA-II based multi-objective optimization algorithm is proposed, which contains some heuristic principles in the initialization phase and mutation operator, and is embedded with a traveling salesman problem (TSP) optimization. The validity and performance of the proposed method are verified by extensive numerical simulations that include several types of point target distributions. 展开更多
关键词 geostationary orbit (GEO) satellitemission planning multi-objective optimization evolutionary genetic
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Study on Multi-objective Optimization of Airbag Landing Attenuation System for Heavy Airdrop 被引量:2
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作者 Hong-yan WANG Huang-jie HONG +1 位作者 Jian-yang LI Qiang RUI 《Defence Technology(防务技术)》 SCIE EI CAS 2013年第4期237-241,共5页
A finite element model of vehicle and its airbag landing attenuation system is established and verified experimentally.Two design cases are selected to constrain the airbag design for extreme landing conditions,while ... A finite element model of vehicle and its airbag landing attenuation system is established and verified experimentally.Two design cases are selected to constrain the airbag design for extreme landing conditions,while the height and width of airbag and the area of vent hole are chosen as design variables.The optimization is forced to compromise the design variables between the conflicting requirements of the two extremes.In order to optimize the parameters of airbag,the multi-dimensional response surfaces based on extended Latin hypercube design and radial basis function are employed instead of the complex finite element model.Pareto optimal solution sets based on response surfaces are then obtained by multi-objective genetic algorithm.The results show the optimization method presented in this paper is a practical tool for the optimization of airbag landing attenuation system for heavy airdrop. 展开更多
关键词 多目标优化 系统 衰减 安全气囊 空投 着陆 PARETO最优解集 有限元模型
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Multi-objective Transmission Expansion Planning Considering Life Cycle Cost 被引量:31
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作者 LIU Lu CHENG Haozhong MA Zeliang YAO Liangzhong BAZARGAN Masoud 《中国电机工程学报》 EI CSCD 北大核心 2012年第22期I0007-I0007,19,共1页
为克服目前全寿命周期成本(life cycle cost,LCC)技术的应用局限于设备运行或维护阶段的不足,针对输电网整体建立一个3维LCC层级模型,包括时间维度、元件维度和费用维度。费用维度进一步分解为设备级、系统级、外部环境成本。研究了... 为克服目前全寿命周期成本(life cycle cost,LCC)技术的应用局限于设备运行或维护阶段的不足,针对输电网整体建立一个3维LCC层级模型,包括时间维度、元件维度和费用维度。费用维度进一步分解为设备级、系统级、外部环境成本。研究了以可靠性为中心的维护手段的应用对维护成本的影响,利用电量不足期望值计算故障成本。在此基础上,对风电等4种不确定因素进行建模,建立以LCC成本最小和切负荷量最小为多目标的输电网机会约束规划模型。采用正态边界交点算法联合改进小生境遗传算法,对模型有效求解。最后,分别对18节点系统和77节点系统进行算例分析。研究结果给出了帕累托解集及推荐的最优规划方案;此外,LCC费用分解图表明了各费用的比重和影响,有利于指导未来资产管理。 展开更多
关键词 生命周期成本 输电网规划 多目标 扩展规划 输电网络 最低成本 维护成本 成本管理
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Approach for uncertain multi-objective programming problems with correlated objective functions under C_(EV) criterion 被引量:2
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作者 MENG Xiangfei WANG Ying +2 位作者 LI Chao WANG Xiaoyang LYU Maolong 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2018年第6期1197-1208,共12页
An uncertain multi-objective programming problem is a special type of mathematical multi-objective programming involving uncertain variables. This type of problem is important because there are several uncertain varia... An uncertain multi-objective programming problem is a special type of mathematical multi-objective programming involving uncertain variables. This type of problem is important because there are several uncertain variables in real-world problems.Therefore, research on the uncertain multi-objective programming problem is highly relevant, particularly those problems whose objective functions are correlated. In this paper, an approach that solves an uncertain multi-objective programming problem under the expected-variance value criterion is proposed. First, we define the basic framework of the approach and review concepts such as a Pareto efficient solution and expected-variance value criterion using an order relation between various uncertain variables.Second, the uncertain multi-objective problem is converted into an uncertain single-objective programming problem via a linear weighted method or ideal point method. Then the problem is transformed into a deterministic single objective programming problem under the expected-variance value criterion. Third, four lemmas and two theorems are proved to illustrate that the optimal solution of the deterministic single-objective programming problem is an efficient solution to the original uncertainty problem. Finally, two numerical examples are presented to validate the effectiveness of the proposed approach. 展开更多
关键词 uncertainty theory uncertain multi-objective programming expected-variance value criterion
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Fuzzy Multi-Objective Decision Model of Supplier Selection with Preference Information 被引量:1
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作者 Chen Zhixiang School of Management, Zhongshan University, Guangzhou 510275, P. R. China Ma Shihua & Chen Rongqiu School of Management, Huazhong University of Science & Technology, Wuhan 430074, R R. China 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2001年第1期34-41,共8页
Supplier selection is a multi-objective decision problem, which must be considered many objectives, some objectives are qualitative, and others are quantitative. Meanwhile, manufacturer has preference for different su... Supplier selection is a multi-objective decision problem, which must be considered many objectives, some objectives are qualitative, and others are quantitative. Meanwhile, manufacturer has preference for different suppliers. In this paper, a new multi-objective decision model with preference information of supplier is established. A practical example of supplier selection problem utilizing this model is studied. The result demonstrates the feasibility and effectiveness of the methods proposed in the paper. 展开更多
关键词 multi-objective Supplier selection FuzZy membership degree.
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Risk Assessment Framework and Algorithm of Power Systems Based on the Partitioned Multi-objective Risk Method 被引量:11
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作者 XIE Shaoyu WANG Xiuli WANG Xifan 《中国电机工程学报》 EI CSCD 北大核心 2011年第34期I0005-I0005,7,共1页
针对平均风险指标无法区分高损失-低概率事件及低损失-高概率事件的缺点,提出了电力系统的分割多目标风险分析框架。该框架将电力系统的风险状态细分为低损失、中等损失和高损失3个风险范围,并提出3个损失范围条件风险函数和条件风险概... 针对平均风险指标无法区分高损失-低概率事件及低损失-高概率事件的缺点,提出了电力系统的分割多目标风险分析框架。该框架将电力系统的风险状态细分为低损失、中等损失和高损失3个风险范围,并提出3个损失范围条件风险函数和条件风险概率的概念。采用经典的容量停运表模型,建立了这些条件期望指标的计算方法。对IEEE-RTS及TH-RTS2000系统进行了分割多目标风险评估,研究不同负荷水平下系统风险在3个损失范围的分布及转移情况,并分析损失分割点对系统风险的影响。通过分割多目标风险分析,风险分析者和决策者可以权衡系统的平均风险以及高、中、低损失范围的条件期望风险,从而对系统的风险状况有一个全面和深入的了解。 展开更多
关键词 英文摘要 内容介绍 编辑工作 期刊
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Novel electromagnetism-like mechanism method for multiobjective optimization problems 被引量:1
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作者 Lixia Han Shujuan Jiang Shaojiang Lan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2015年第1期182-189,共8页
As a new-style stochastic algorithm, the electromagnetism-like mechanism(EM) method gains more and more attention from many researchers in recent years. A novel model based on EM(NMEM) for multiobjective optimizat... As a new-style stochastic algorithm, the electromagnetism-like mechanism(EM) method gains more and more attention from many researchers in recent years. A novel model based on EM(NMEM) for multiobjective optimization problems is proposed, which regards the charge of all particles as the constraints in the current population and the measure of the uniformity of non-dominated solutions as the objective function. The charge of the particle is evaluated based on the dominated concept, and its magnitude determines the direction of a force between two particles. Numerical studies are carried out on six complex test functions and the experimental results demonstrate that the proposed NMEM algorithm is a very robust method for solving the multiobjective optimization problems. 展开更多
关键词 electromagnetism-like mechanism(EM) method multi-objective optimization problem PARTICLE Pareto optimal solutions
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Multi-objective fuzzy particle swarm optimization based on elite archiving and its convergence 被引量:1
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作者 Wei Jingxuan Wang Yuping 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第5期1035-1040,共6页
A fuzzy particle swarm optimization (PSO) on the basis of elite archiving is proposed for solving multi-objective optimization problems. First, a new perturbation operator is designed, and the concepts of fuzzy glob... A fuzzy particle swarm optimization (PSO) on the basis of elite archiving is proposed for solving multi-objective optimization problems. First, a new perturbation operator is designed, and the concepts of fuzzy global best and fuzzy personal best are given on basis of the new operator. After that, particle updating equations are revised on the basis of the two new concepts to discourage the premature convergence and enlarge the potential search space; second, the elite archiving technique is used during the process of evolution, namely, the elite particles are introduced into the swarm, whereas the inferior particles are deleted. Therefore, the quality of the swarm is ensured. Finally, the convergence of this swarm is proved. The experimental results show that the nondominated solutions found by the proposed algorithm are uniformly distributed and widely spread along the Pareto front. 展开更多
关键词 multi-objective optimization particle swarm optimization fuzzy personal best fuzzy global best elite archiving.
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Multi-objective reentry trajectory optimization method via GVD for hypersonic vehicles 被引量:1
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作者 Chaofang Hu Yue Xin Hao Feng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2017年第4期732-744,共13页
In the constrained reentry trajectory design of hypersonic vehicles, multiple objectives with priorities bring about more difficulties to find the optimal solution. Therefore, a multi-objective reentry trajectory opti... In the constrained reentry trajectory design of hypersonic vehicles, multiple objectives with priorities bring about more difficulties to find the optimal solution. Therefore, a multi-objective reentry trajectory optimization (MORTO) approach via generalized varying domain (GVD) is proposed. Using the direct collocation approach, the trajectory optimization problem involving multiple objectives is discretized into a nonlinear multi-objective programming with priorities. In terms of fuzzy sets, the objectives are fuzzified into three types of fuzzy goals, and their constant tolerances are substituted by the varying domains. According to the principle that the objective with higher priority has higher satisfactory degree, the priority requirement is modeled as the order constraints of the varying domains. The corresponding two-side, single-side, and hybrid-side varying domain models are formulated for three fuzzy relations respectively. By regulating the parameter, the optimal reentry trajectory satisfying priorities can be achieved. Moreover, the performance about the parameter is analyzed, and the algorithm to find its specific value for maximum priority difference is proposed. The simulations demonstrate the effectiveness of the proposed method for hypersonic vehicles, and the comparisons with the traditional methods and sensitivity analysis are presented. 展开更多
关键词 hypersonic vehicle reentry trajectory design multi-objective optimization generalized varying domain direct collocation method
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Optimal setting and placement of FACTS devices using strength Pareto multi-objective evolutionary algorithm 被引量:2
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作者 Amin Safari Hossein Shayeghi Mojtaba Bagheri 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第4期829-839,共11页
This work proposes a novel approach for multi-type optimal placement of flexible AC transmission system(FACTS) devices so as to optimize multi-objective voltage stability problem. The current study discusses a way for... This work proposes a novel approach for multi-type optimal placement of flexible AC transmission system(FACTS) devices so as to optimize multi-objective voltage stability problem. The current study discusses a way for locating and setting of thyristor controlled series capacitor(TCSC) and static var compensator(SVC) using the multi-objective optimization approach named strength pareto multi-objective evolutionary algorithm(SPMOEA). Maximization of the static voltage stability margin(SVSM) and minimizations of real power losses(RPL) and load voltage deviation(LVD) are taken as the goals or three objective functions, when optimally locating multi-type FACTS devices. The performance and effectiveness of the proposed approach has been validated by the simulation results of the IEEE 30-bus and IEEE 118-bus test systems. The proposed approach is compared with non-dominated sorting particle swarm optimization(NSPSO) algorithm. This comparison confirms the usefulness of the multi-objective proposed technique that makes it promising for determination of combinatorial problems of FACTS devices location and setting in large scale power systems. 展开更多
关键词 STRENGTH PARETO multi-objective evolutionary algorithm STATIC var COMPENSATOR (SVC) THYRISTOR controlled series capacitor (TCSC) STATIC voltage stability margin optimal location
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ObjectBoxG:基于GC3模块的目标检测算法
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作者 张建宇 谢娟英 《智能系统学报》 CSCD 北大核心 2024年第6期1385-1394,共10页
随着对目标检测任务研究的不断深入,以ObjectBox检测器为代表的无锚框方法引起了研究者们的关注。然而,ObjectBox检测器不能充分利用多尺度特征,也未充分考虑目标中心点与全局信息关联。为此,借助图卷积神经网络的节点相互影响原理,提... 随着对目标检测任务研究的不断深入,以ObjectBox检测器为代表的无锚框方法引起了研究者们的关注。然而,ObjectBox检测器不能充分利用多尺度特征,也未充分考虑目标中心点与全局信息关联。为此,借助图卷积神经网络的节点相互影响原理,提出基于图谱方法的图卷积层模块GConv(graph convolution layer),学习图像全局特征;融合模块GConv与C3(cross stage partial network with 3 convolutions)得到GC3(graph C3 module)模块,进一步提取图像原始特征、细节特征以及全局特征;将GC3结合广义特征金字塔网络GFPN(generalized feature pyramid network),提出图广义特征金字塔网络GGFPN(graph generalized feature pyramid network),并嵌入ObjectBox算法,设计出ObjectBoxG算法。经典数据集的实验测试表明,提出的GC3模块比原C3模块具有更强特征提取能力;提出的GGFPN网络比GC3的特征学习能力更强;提出的ObjectBoxG算法具有优良的目标检测性能。 展开更多
关键词 图卷积神经网络 特征提取 特征融合 目标检测 深度学习 无锚框方法 特征金字塔网络 object-Box检测器 多尺度特征 全局特征
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CRF:A Scheduling of Multi-Granularity Locks in Object-Oriented Database Systems
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作者 Qin Xiao & Pang Liping(Department of Computer Science, Huazhong University of Science and Technology,Wuhan 430074, P. R. China) 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1998年第4期51-57,共7页
This paper introduces a multi-granularity locking model (MGL) for concurrency control in object-oriented database system briefiy, and presents a MGL model formally. Four lockingscheduling algorithms for MGL are propos... This paper introduces a multi-granularity locking model (MGL) for concurrency control in object-oriented database system briefiy, and presents a MGL model formally. Four lockingscheduling algorithms for MGL are proposed in the paper. The ideas of single queue scheduling(SQS) and dual queue scheduling (DQS) are proposed and the algorithm and the performance evaluation for these two scheduling are presented in some paper. This paper describes a new idea of thescheduling for MGL, compatible requests first (CRF). Combining the new idea with SQS and DQS,we propose two new scheduling algorithms called CRFS and CRFD. After describing the simulationmodel, this paper illustrates the comparisons of the performance among these four algorithms. Asshown in the experiments, DQS has better performance than SQS, CRFD is better than DQS, CRFSperforms better than SQS, and CRFS is the best one of these four scheduling algorithms. 展开更多
关键词 Lock scheduling multi-granularity lock Concurrency control Compatible requestsfirst Single queue scheduling Dual queue scheduling object-oriented database system
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多目标联合优化的车联网动态资源分配算法 被引量:3
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作者 宋晓勤 张文静 +2 位作者 雷磊 宋铁成 赵丽屏 《东南大学学报(自然科学版)》 北大核心 2025年第1期266-274,共9页
为了解决车联网(IoV)信道高动态不确定性及多用户干扰所导致的通信传输性能下降问题,提出了一种基于多智能体增强型双深度Q网络(EDDQN)的多目标联合优化资源分配算法。首先,考虑车辆运动和信道时变特性,建立多用户干扰下频谱共享和功率... 为了解决车联网(IoV)信道高动态不确定性及多用户干扰所导致的通信传输性能下降问题,提出了一种基于多智能体增强型双深度Q网络(EDDQN)的多目标联合优化资源分配算法。首先,考虑车辆运动和信道时变特性,建立多用户干扰下频谱共享和功率控制联合优化的资源分配决策模型,在满足时延和可靠性等约束下,最小化网络时延和能耗加权和(成本);然后,将模型转换为马尔可夫决策过程(MDP),利用双深度Q网络(DDQN),并引入优先经验回放和多步学习,通过集中式训练和分布式执行,优化车间(V2V)链路的频谱共享和功率分配策略。结果表明,所提算法具有良好的收敛性,在不同负载下相较对比算法成本减少8%以上,负载传输成功率提升19%以上,有效提高了通信传输性能。 展开更多
关键词 车联网 多用户干扰 多目标联合优化 深度强化学习
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基于改进A^(*)算法的水空两栖机器人多目标路径规划 被引量:4
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作者 沈跃 孙浩 +2 位作者 沈亚运 郭奕 刘慧 《农业工程学报》 北大核心 2025年第6期62-70,共9页
实现水空两栖机器人安全、高效进行多目标点跨塘水质检测作业,减少传统水质检测模式时间及经济成本,合理的路径规划十分重要。针对传统A^(*)算法路径曲折、搜索效率低、无法考虑多栖机器人约束特性等问题,该研究提出一种改进A^(*)的水... 实现水空两栖机器人安全、高效进行多目标点跨塘水质检测作业,减少传统水质检测模式时间及经济成本,合理的路径规划十分重要。针对传统A^(*)算法路径曲折、搜索效率低、无法考虑多栖机器人约束特性等问题,该研究提出一种改进A^(*)的水空两栖机器人路径规划算法。首先采集障碍物分布情况和高度信息,建立多水域2.5维栅格地图;其次在A^(*)算法评价函数中加入能耗、时间及安全代价,通过调节不同权重获取相应初始路径;然后通过动态分配权重改进启发式函数,加快搜索效率,并利用目标成本函数对所有目标进行优先级判定,实现多目标路径规划;最后通过增加空中模态切换点、删除冗余点及采用B样条曲线优化路径,生成可连接多水域多水质检测点的三维平滑轨迹。仿真试验结果表明:与传统A^(*)算法和陆空A^(*)算法相比,改进A^(*)算法迭代次数分别减少70.04%与68.07%,路径长度分别减少35.44%与7.6%,总转角分别减小83.63%与8.65%,危险节点数分别减少80.67%与33.33%。真实水域试验表明:改进A^(*)算法的迭代次数比传统A^(*)算法和陆空A^(*)算法减少84.89%与83.78%,路径长度分别减少12%与0.6%,总转角分别减小73.21%与22.1%,危险节点数分别减少84.62%与80%,可规划出通过多个目标点的安全、平滑路径,有效提高水质检测效率,为多栖机器人自主导航提供参考。 展开更多
关键词 多目标 路径规划 水空两栖机器人 A^(*)算法 轨迹优化
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