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A Class of Parallel Algorithm for Solving Low-rank Tensor Completion
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作者 LIU Tingyan WEN Ruiping 《应用数学》 北大核心 2025年第4期1134-1144,共11页
In this paper,we established a class of parallel algorithm for solving low-rank tensor completion problem.The main idea is that N singular value decompositions are implemented in N different processors for each slice ... In this paper,we established a class of parallel algorithm for solving low-rank tensor completion problem.The main idea is that N singular value decompositions are implemented in N different processors for each slice matrix under unfold operator,and then the fold operator is used to form the next iteration tensor such that the computing time can be decreased.In theory,we analyze the global convergence of the algorithm.In numerical experiment,the simulation data and real image inpainting are carried out.Experiment results show the parallel algorithm outperform its original algorithm in CPU times under the same precision. 展开更多
关键词 Tensor completion Low-rank CONVERGENCE parallel algorithm
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Improvement and performance of parallel multilevel fast multipole algorithm 被引量:16
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作者 Zhanhe Liu Peilin Huang +1 位作者 Zhe Wu Xu Gao 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2011年第1期164-169,共6页
The method of establishing data structures plays an important role in the efficiency of parallel multilevel fast multipole algorithm(PMLFMA).Considering the main complements of multilevel fast multipole algorithm(M... The method of establishing data structures plays an important role in the efficiency of parallel multilevel fast multipole algorithm(PMLFMA).Considering the main complements of multilevel fast multipole algorithm(MLFMA) memory,a new parallelization strategy and a modified data octree construction scheme are proposed to further reduce communication in order to improve parallel efficiency.For far interaction,a new scheme called dynamic memory allocation is developed.To analyze the workload balancing performance of a parallel implementation,the original concept of workload balancing factor is introduced and verified by numerical examples.Numerical results show that the above measures improve the parallel efficiency and are suitable for the analysis of electrical large-scale scattering objects. 展开更多
关键词 multilevel fast multipole algorithm(MLFMA) electromagnetic scattering parallelIZATION radar cross section(RCS).
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Lower Bounds and a Nearly Fastest General Parallel Branch-and-Bound Algorithm 被引量:2
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作者 Wu, Jigang Xie, Xing +1 位作者 Wan, Yingyu Chen, Guoliang 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2000年第3期65-73,共9页
In this paper, it is supposed that the B&B algorithm finds the first optimal solution after h nodes have been expanded and m active nodes have been created in the state-space tree. Then the lower bound Ω(m+h log ... In this paper, it is supposed that the B&B algorithm finds the first optimal solution after h nodes have been expanded and m active nodes have been created in the state-space tree. Then the lower bound Ω(m+h log h) of the running time for the general sequential B&B algorithm and the lower bound Ω(m/p+h log p) for the general parallel best-first B&B algorithm in PRAM-CREW are proposed, where p is the number of processors available. Moreover, the lower bound Ω(M/p+H+(H/p) log (H/p)) is presented for the parallel algorithms on distributed memory system, where M and H represent total number of the active nodes and that of the expanded nodes processed by p processors, respectively. In addition, a nearly fastest general parallel best-first B&B algorithm is put forward. The parallel algorithm is the fastest one as p = max{hε, r}, where ε = 1/ rootlogh, and r is the largest branch number of the nodes in the state-space tree. 展开更多
关键词 BRANCH-AND-BOUND State-space tree Active list parallel algorithm Combinatorial search.
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General and efficient parallel approach of finite element-boundary integral-multilevel fast multipole algorithm 被引量:3
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作者 Pan Xiaomin Sheng Xinqing 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第2期207-212,共6页
A general and efficient parallel approach is proposed for the first time to parallelize the hybrid finiteelement-boundary-integral-multi-level fast multipole algorithm (FE-BI-MLFMA). Among many algorithms of FE-BI-M... A general and efficient parallel approach is proposed for the first time to parallelize the hybrid finiteelement-boundary-integral-multi-level fast multipole algorithm (FE-BI-MLFMA). Among many algorithms of FE-BI-MLFMA, the decomposition algorithm (DA) is chosen as a basis for the parallelization of FE-BI-MLFMA because of its distinct numerical characteristics suitable for parallelization. On the basis of the DA, the parallelization of FE-BI-MLFMA is carried out by employing the parallelized multi-frontal method for the matrix from the finiteelement method and the parallelized MLFMA for the matrix from the boundary integral method respectively. The programming and numerical experiments of the proposed parallel approach are carried out in the high perfor- mance computing platform CEMS-Liuhui. Numerical experiments demonstrate that FE-BI-MLFMA is efficiently parallelized and its computational capacity is greatly improved without losing accuracy, efficiency, and generality. 展开更多
关键词 finite element-boundary integral-multilevel fast multipole algorithm parallelization.
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A Class of Parallel Algorithms of Real-TimeNumerical Simulation for Stiff Dynamic System 被引量:2
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作者 Cao Xuenian Liu Degui Li Shoufu 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2000年第4期51-58,共8页
In this paper a class of real-time parallel modified Rosenbrock methods of numerical simulation is constructed for stiff dynamic systems on a multiprocessor system, and convergence and numerical stability of these met... In this paper a class of real-time parallel modified Rosenbrock methods of numerical simulation is constructed for stiff dynamic systems on a multiprocessor system, and convergence and numerical stability of these methods are discussed. A-stable real-time parallel formula of two-stage third-order and A(α)-stable real-time parallel formula with o ≈ 89.96° of three-stage fourth-order are particularly given. The numerical simulation experiments in parallel environment show that the class of algorithms is efficient and applicable, with greater speedup. 展开更多
关键词 Dynamic system Real-time simulation parallel algorithms?
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Concise review of relaxations and approximation algorithms for nonidentical parallel-machine scheduling to minimize total weighted completion times 被引量:1
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作者 Li Kai Yang Shanlin 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2008年第4期827-834,共8页
A class of nonidentical parallel machine scheduling problems are considered in which the goal is to minimize the total weighted completion time. Models and relaxations are collected. Most of these problems are NP-hard... A class of nonidentical parallel machine scheduling problems are considered in which the goal is to minimize the total weighted completion time. Models and relaxations are collected. Most of these problems are NP-hard, in the strong sense, or open problems, therefore approximation algorithms are studied. The review reveals that there exist some potential areas worthy of further research. 展开更多
关键词 parallel machine SCHEDULING REVIEW total weighted completion time RELAXATION algorithm
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Chaotic migration-based pseudo parallel genetic algorithm and its application in inventory optimization 被引量:1
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作者 ChenXiaofang GuiWeihua WangYalin 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2005年第2期411-417,共7页
Considering premature convergence in the searching process of genetic algorithm, a chaotic migration-based pseudo parallel genetic algorithm (CMPPGA) is proposed, which applies the idea of isolated evolution and infor... Considering premature convergence in the searching process of genetic algorithm, a chaotic migration-based pseudo parallel genetic algorithm (CMPPGA) is proposed, which applies the idea of isolated evolution and information exchanging in distributed Parallel Genetic Algorithm by serial program structure to solve optimization problem of low real-time demand. In this algorithm, asynchronic migration of individuals during parallel evolution is guided by a chaotic migration sequence. Information exchanging among sub-populations is ensured to be efficient and sufficient due to that the sequence is ergodic and stochastic. Simulation study of CMPPGA shows its strong global search ability, superiority to standard genetic algorithm and high immunity against premature convergence. According to the practice of raw material supply, an inventory programming model is set up and solved by CMPPGA with satisfactory results returned. 展开更多
关键词 parallel genetic algorithm CHAOS premature convergence inventory optimization.
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Parallel discrete lion swarm optimization algorithm for solving traveling salesman problem 被引量:4
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作者 ZHANG Daoqing JIANG Mingyan 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2020年第4期751-760,共10页
As a typical representative of the NP-complete problem, the traveling salesman problem(TSP) is widely utilized in computer networks, logistics distribution, and other fields. In this paper, a discrete lion swarm optim... As a typical representative of the NP-complete problem, the traveling salesman problem(TSP) is widely utilized in computer networks, logistics distribution, and other fields. In this paper, a discrete lion swarm optimization(DLSO) algorithm is proposed to solve the TSP. Firstly, we introduce discrete coding and order crossover operators in DLSO. Secondly, we use the complete 2-opt(C2-opt) algorithm to enhance the local search ability.Then in order to enhance the efficiency of the algorithm, a parallel discrete lion swarm optimization(PDLSO) algorithm is proposed.The PDLSO has multiple populations, and each sub-population independently runs the DLSO algorithm in parallel. We use the ring topology to transfer information between sub-populations. Experiments on some benchmarks TSP problems show that the DLSO algorithm has a better accuracy than other algorithms, and the PDLSO algorithm can effectively shorten the running time. 展开更多
关键词 discrete lion swarm optimization(DLSO)algorithm complete 2-opt(C2-opt)algorithm parallel discrete lion swarm optimization(PDLSO)algorithm traveling salesman problem(TSP)
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Approximation algorithm for multiprocessor parallel job scheduling 被引量:1
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作者 陈松乔 黄金贵 陈建二 《Journal of Central South University of Technology》 2002年第4期267-272,共6页
P k |fix| C max problem is a new scheduling problem based on the multiprocessor parallel job, and it is proved to be NP hard problem when k ≥3. This paper focuses on the case of k =3. Some new observations and new te... P k |fix| C max problem is a new scheduling problem based on the multiprocessor parallel job, and it is proved to be NP hard problem when k ≥3. This paper focuses on the case of k =3. Some new observations and new techniques for P 3 |fix| C max problem are offered. The concept of semi normal schedulings is introduced, and a very simple linear time algorithm Semi normal Algorithm for constructing semi normal schedulings is developed. With the method of the classical Graham List Scheduling, a thorough analysis of the optimal scheduling on a special instance is provided, which shows that the algorithm is an approximation algorithm of ratio of 9/8 for any instance of P 3|fix| C max problem, and improves the previous best ratio of 7/6 by M.X.Goemans. 展开更多
关键词 MULTIPROCESSOR parallel JOB SCHEDULING APPROXIMATION algorithm NP-HARD problem
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A novel hybrid estimation of distribution algorithm for solving hybrid flowshop scheduling problem with unrelated parallel machine 被引量:10
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作者 孙泽文 顾幸生 《Journal of Central South University》 SCIE EI CAS CSCD 2017年第8期1779-1788,共10页
The hybrid flow shop scheduling problem with unrelated parallel machine is a typical NP-hard combinatorial optimization problem, and it exists widely in chemical, manufacturing and pharmaceutical industry. In this wor... The hybrid flow shop scheduling problem with unrelated parallel machine is a typical NP-hard combinatorial optimization problem, and it exists widely in chemical, manufacturing and pharmaceutical industry. In this work, a novel mathematic model for the hybrid flow shop scheduling problem with unrelated parallel machine(HFSPUPM) was proposed. Additionally, an effective hybrid estimation of distribution algorithm was proposed to solve the HFSPUPM, taking advantage of the features in the mathematic model. In the optimization algorithm, a new individual representation method was adopted. The(EDA) structure was used for global search while the teaching learning based optimization(TLBO) strategy was used for local search. Based on the structure of the HFSPUPM, this work presents a series of discrete operations. Simulation results show the effectiveness of the proposed hybrid algorithm compared with other algorithms. 展开更多
关键词 hybrid estimation of distribution algorithm teaching learning based optimization strategy hybrid flow shop unrelated parallel machine scheduling
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Improved Hungarian algorithm for assignment problems of serial-parallel systems 被引量:5
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作者 Tingpeng Li Yue Li Yanling Qian 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2016年第4期858-870,共13页
In order to overcome the shortcoming of the classical Hungarian algorithm that it can only solve the problems where the total cost is the sum of that of each job, an improved Hungarian algorithm is proposed and used t... In order to overcome the shortcoming of the classical Hungarian algorithm that it can only solve the problems where the total cost is the sum of that of each job, an improved Hungarian algorithm is proposed and used to solve the assignment problem of serial-parallel systems. First of all, by replacing parallel jobs with virtual jobs, the proposed algorithm converts the serial-parallel system into a pure serial system, where the classical Hungarian algorithm can be used to generate a temporal assignment plan via optimization. Afterwards, the assignment plan is validated by checking whether the virtual jobs can be realized by real jobs through local searching. If the assignment plan is not valid, the converted system will be adapted by adjusting the parameters of virtual jobs, and then be optimized again. Through iterative searching, the valid optimal assignment plan can eventually be obtained.To evaluate the proposed algorithm, the valid optimal assignment plan is applied to labor allocation of a manufacturing system which is a typical serial-parallel system. 展开更多
关键词 Hungarian algorithm assignment problem virtual job serial-parallel system optimization
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Efficient parallel adaptive array beamforming algorithm
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作者 Huang Fei Sheng Weixing Ma Xiaofeng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2009年第6期1221-1226,共6页
For a large-scale adaptive array, the heavy computational load and the high-rate data transmission are two challenges in the implementation of an adaptive digital beamforming system. An efficient parallel digital beam... For a large-scale adaptive array, the heavy computational load and the high-rate data transmission are two challenges in the implementation of an adaptive digital beamforming system. An efficient parallel digital beamforming (DBF) algorithm based on the least mean square algorithm (PLMS) is proposed. An appropriate method is found to partition the least mean square (LMS) algorithm into a number of operational modules, which can be easily executed in a distributed-parallel-processing fashion. As a result, the proposed PLMS algorithm provides an effective solution that can alleviate the bottleneck of high-rate data transmission and reduce the computational cost. PLMS requires less computational load than that of the conventional parallel algorithms based on the recursive least square (RLS) algorithm, as well as it is easier to be implemented to do real time adaptive array processing. Moreover, low sidelobe of the beam pattern is obtained by constraining the static steering vector with Tschebyscheff coefficients. Finally, a scheme of the PLMS algorithm using distributed-parallel-processing system is also proposed. The simulation results demonstrate that the PLMS algorithm has the same interference cancellation performance as that of the conventional LMS algorithm. Moreover, the PLMS algorithm can obtain the same good beamforming performance, regardless how the algorithm is partitioned. It is expected that the proposed algorithm will be used in a large-scale adaptive array system to deal with real time adaptive digital beamforming processing. 展开更多
关键词 adaptive digital beamforming parallel algorithm least mean square generalized sidelobe canceller.
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PHUI-GA: GPU-based efficiency evolutionary algorithm for mining high utility itemsets
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作者 JIANG Haipeng WU Guoqing +3 位作者 SUN Mengdan LI Feng SUN Yunfei FANG Wei 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2024年第4期965-975,共11页
Evolutionary algorithms(EAs)have been used in high utility itemset mining(HUIM)to address the problem of discover-ing high utility itemsets(HUIs)in the exponential search space.EAs have good running and mining perform... Evolutionary algorithms(EAs)have been used in high utility itemset mining(HUIM)to address the problem of discover-ing high utility itemsets(HUIs)in the exponential search space.EAs have good running and mining performance,but they still require huge computational resource and may miss many HUIs.Due to the good combination of EA and graphics processing unit(GPU),we propose a parallel genetic algorithm(GA)based on the platform of GPU for mining HUIM(PHUI-GA).The evolution steps with improvements are performed in central processing unit(CPU)and the CPU intensive steps are sent to GPU to eva-luate with multi-threaded processors.Experiments show that the mining performance of PHUI-GA outperforms the existing EAs.When mining 90%HUIs,the PHUI-GA is up to 188 times better than the existing EAs and up to 36 times better than the CPU parallel approach. 展开更多
关键词 high utility itemset mining(HUIM) graphics process-ing unit(GPU)parallel genetic algorithm(GA) mining perfor-mance
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基于ABWO的并行DCNN优化算法 被引量:1
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作者 毛伊敏 刘映兴 《计算机工程与设计》 北大核心 2025年第2期353-359,共7页
针对并行DCNN算法在大数据环境下存在特征差异性较小、模型性能不足、参数更新慢和集群并行效率低等问题,提出一种基于ABWO的并行DCNN优化算法PDCNN-ABWO。提出一种基于自适应密度峰值聚类的特征选择策略FS-ADPC划分原始特征,筛选差异... 针对并行DCNN算法在大数据环境下存在特征差异性较小、模型性能不足、参数更新慢和集群并行效率低等问题,提出一种基于ABWO的并行DCNN优化算法PDCNN-ABWO。提出一种基于自适应密度峰值聚类的特征选择策略FS-ADPC划分原始特征,筛选差异性较大的特征;设计一种ResNet-CBAMDW模型,提升模型性能;提出一种基于自适应黑寡妇优化算法的并行训练策略PT-ABWO优化初始参数,加快参数更新速度;提出一种基于大数据基准测试的动态负载均衡策略DLB-BDB,合理分配任务负载,提升集群并行效率。实验结果表明,该算法能够有效提升DCNN在大数据环境下的训练效率。 展开更多
关键词 大数据 并行深度卷积神经网络算法 密度峰值聚类 自适应黑寡妇优化算法 并行训练 基准测试 负载均衡
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3-PTT并联机器人的误差分析与补偿 被引量:1
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作者 陈明方 梁鸿键 +1 位作者 魏松坡 何朝银 《工程科学与技术》 北大核心 2025年第4期290-302,共13页
对并联机器人进行标定是提高位姿精度的有效措施。但传统标定方法存在误差参数多、误差累积及超静定方程组不易获得最优解等问题。为此,本文以3-PTT并联机器人为研究对象,首先,通过正运动学方程建立包含21个误差项的误差模型,细分18种... 对并联机器人进行标定是提高位姿精度的有效措施。但传统标定方法存在误差参数多、误差累积及超静定方程组不易获得最优解等问题。为此,本文以3-PTT并联机器人为研究对象,首先,通过正运动学方程建立包含21个误差项的误差模型,细分18种情况并向其中添加误差值,系统地分析铰链点安装坐标误差及连杆长度误差对动平台位置精度的影响关系。误差分析结果表明,连杆长度和静平台铰链点z坐标误差对末端精度影响显著,3个自由度方向上的误差均已超过1 mm。同时,为克服传统方法中的不足,本文提出一种逆运动学误差补偿算法。该算法利用机器人的逆运动学模型将机构误差转化为关节输入误差,减少了传统算法中的误差参数,大幅降低了优化方程的求解难度,提高了补偿效率。随后,采用改进粒子群算法对误差修正目标函数寻优,以此获得滑块补偿量,将其与理想滑块输入量叠加作为滑块修正量驱动机器人完成误差补偿。仿真结果表明,补偿后动平台位置误差均无限趋于0;实验结果显示:动平台在x、y、z轴自由度方向的误差最大值分别由10.89、12.42、2.12 mm降至0.97、1.14、0.72 mm,距离误差最大值由15.35 mm降至1.36 mm,补偿效果明显;误差均值分别由5.86、8.02、1.12 mm降至0.45、0.46、0.33 mm,距离误差均值降至0.82 mm,运行精度提高92.1%。 展开更多
关键词 并联机器人 误差分析 误差补偿 改进粒子群算法 位姿精度
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基于改进MOGWO算法的并联机器人轨迹优化 被引量:1
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作者 郭彤颖 叶相涛 陈宇 《组合机床与自动化加工技术》 北大核心 2025年第6期20-25,共6页
针对并联机器人运行过程中短时间、低能耗、弱冲击等需求,提出了一种基于改进多目标灰狼算法(IMOGWO)的轨迹优化方法。首先,对并联机器人进行逆运动学求解,在笛卡尔空间选取关键点并映射至关节空间,采用4-3-3-4次多项式插值方法对其运... 针对并联机器人运行过程中短时间、低能耗、弱冲击等需求,提出了一种基于改进多目标灰狼算法(IMOGWO)的轨迹优化方法。首先,对并联机器人进行逆运动学求解,在笛卡尔空间选取关键点并映射至关节空间,采用4-3-3-4次多项式插值方法对其运动轨迹进行规划;其次,对多目标灰狼算法在收敛因子、围猎机制、头狼更新3个方面进行改进优化,优化后的算法具有搜索能力强、收敛速度快等优势;最终,利用改进的多目标灰狼算法对多项式轨迹进行时间-能耗-冲击多目标优化,仿真实验表明优化方法不仅缩短了机器人的运行时间,在降低能耗和减小冲击方面也取得了显著成效,使机器人总体性能得到了有效地提升。 展开更多
关键词 并联机器人 轨迹规划 改进多目标灰狼算法 多目标优化
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基于改进MOPSO和多目标的SCARA并联机器人的食品分拣轨迹优化 被引量:1
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作者 金光 李若琪 郑强仁 《食品与机械》 北大核心 2025年第8期85-92,共8页
[目的]针对SCARA高速并联机器人在食品分拣过程中运行冲击与能耗难以兼顾的问题,通过轨迹优化方法提升其综合性能,满足食品分拣场景对平稳、低耗的实际需求。[方法]在对整个食品分拣系统进行分析的基础上,提出了一种结合改进非均匀五次... [目的]针对SCARA高速并联机器人在食品分拣过程中运行冲击与能耗难以兼顾的问题,通过轨迹优化方法提升其综合性能,满足食品分拣场景对平稳、低耗的实际需求。[方法]在对整个食品分拣系统进行分析的基础上,提出了一种结合改进非均匀五次B样条和多目标模型的SCARA高速并联机器人食品分拣轨迹优化方法。通过始末路径引入虚拟路径点优化非均匀五次B样条插值方法构建SCARA高速并联机器人食品分拣轨迹,以运行冲击和运行能耗综合最优为多目标轨迹优化模型,通过外部档案、全局最优粒子、惯性权重优化的多目标粒子群算法求解模型,完成SCARA高速并联机器人轨迹优化。通过试验对所提轨迹优化方法的运行冲击和能耗进行分析。[结果]所提轨迹优化方法可有效实现SCARA高速并联机器人食品分拣过程中运行冲击与能耗的综合优化,轨迹平滑性与算法求解性能均得到显著提升。与优化前相比,运行冲击和运行能耗降低50%以上,不同分拣速度下的误差未超过1 mm。[结论]通过结合改进非均匀五次B样条与多目标模型的轨迹优化方法,可实现机器人在食品分拣过程中运行冲击和能耗的综合最优。 展开更多
关键词 高速并联机器人 食品分拣 轨迹优化 五次B样条 多目标粒子群算法
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欠约束临时支护机器人几何静力耦合模型及运动控制研究
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作者 刘鹏 朱延 +6 位作者 马宏伟 曹现刚 张旭辉 段学超 周昊晨 乔心州 夏晶 《煤炭科学技术》 北大核心 2025年第8期346-361,共16页
护盾式智能掘进机器人系统有效的解决了煤矿开采中“采掘失衡、采快掘慢”难题。临时支护机器人作为该系统的重要组成部分,尽管在提升作业效率上发挥了重要作用,但由于结构限制,仅能实现竖直方向的升降运动,难以有效应对复杂巷道的临时... 护盾式智能掘进机器人系统有效的解决了煤矿开采中“采掘失衡、采快掘慢”难题。临时支护机器人作为该系统的重要组成部分,尽管在提升作业效率上发挥了重要作用,但由于结构限制,仅能实现竖直方向的升降运动,难以有效应对复杂巷道的临时支护作业。为解决临时支护机器人运动受限难题,设计了一种欠约束临时支护机器人,并提出了一种基于RBF神经网络分块逼近的终端滑模控制方法,以实现欠约束临时支护机器人的高精度运动控制。首先,利用修正的G-K公式对该机器人的自由度进行了分析,针对欠约束临时支护机器人正运动学难以求解问题,建立了几何静力耦合模型,提出了一种改进的蜣螂优化算法,对正/逆几何静力问题进行求解,并对几何静力问题进行了仿真;其次,设计了一种基于RBF神经网络分块逼近的终端滑模控制器。针对末端支护平台参数矩阵的不确定,使用多组RBF神经网络对其逼近,根据自适应律在线调整权值,实现了动力学模型的重构,并设计鲁棒项消除模型重构误差和外部扰动。为缓解控制器存在的抖振问题,设计了模糊系统自适应逼近切换增益来代替鲁棒项,并利用Lyapunov准则证明了控制系统的稳定性。最后,以平面圆轨迹为例进行仿真。结果表明:改进的蜣螂优化算法对正/逆运动学单点验证精度均小于10-20,连续运动学求解结果良好。使用RBF神经网络分块逼近的终端滑模控制方法对预定轨迹的位置跟踪误差为0~0.011m,姿态跟踪误差为0~0.0031°,与RBF神经网络整体逼近和PD控制相比最大跟踪误差分别减少了99.0%、95.5%,均方根误差分别减少了98.3%、96.5%。证明了基于RBF神经网络分块逼近的终端滑模控制方法能进一步提高欠约束临时支护机器人的运动控制精度,在受到外界干扰的情况下具有更强的鲁棒性。 展开更多
关键词 欠约束并联机器人 临时支护 运动控制 优化算法 神经网络 模糊系统
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并联腿四足机器人的参数优化和步态控制
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作者 陈明方 李明 +2 位作者 张永霞 陈中平 莫翔 《机械科学与技术》 北大核心 2025年第8期1326-1334,共9页
四足机器人并联腿的结构刚度好、运动精度高、动态性能好,但控制难度大。为解决并联腿四足机器人的控制和性能优化问题,本文对四足机器人的平面2自由度5R并联腿机械结构进行分析,采用弹簧-负载倒立摆模型控制,将SLIP模型等效拓展到四足... 四足机器人并联腿的结构刚度好、运动精度高、动态性能好,但控制难度大。为解决并联腿四足机器人的控制和性能优化问题,本文对四足机器人的平面2自由度5R并联腿机械结构进行分析,采用弹簧-负载倒立摆模型控制,将SLIP模型等效拓展到四足机器人的对角小跑(trot)步态控制。使用遗传算法以能量损耗和运动误差为适应度函数对SLIP的相关系统参数进行优化,并总结系统参数对能量损耗和运动误差的影响。仿真结果显示四足机器人平地运动速度、跳跃高度、机身俯仰位置的最大误差分别为1.95%、2.36%、0.47°。 展开更多
关键词 平面5R并联腿 SLIP模型 遗传算法 对角小跑
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求解冷水机负荷分配问题的改进渔夫捕鱼算法
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作者 于军琪 宗悦 +1 位作者 赵安军 高之坤 《控制工程》 北大核心 2025年第9期1537-1547,共11页
针对并联冷水机负荷分配优化问题提出一种改进的渔夫捕鱼算法,以降低并联冷水机总功耗作为优化目标,以各冷水机的部分负荷率为优化变量进行求解。在改进的算法中,采用Sobol序列初始化位置,令初始解完整均匀地覆盖整个可行域;并在2种搜... 针对并联冷水机负荷分配优化问题提出一种改进的渔夫捕鱼算法,以降低并联冷水机总功耗作为优化目标,以各冷水机的部分负荷率为优化变量进行求解。在改进的算法中,采用Sobol序列初始化位置,令初始解完整均匀地覆盖整个可行域;并在2种搜索策略中,根据渔夫所处的环境采取不同的位置更新方式,包括非线性惯性权重和高斯变异,以提高算法的收敛速度和寻优精度;最后,通过经典案例对改进算法进行测试与系统仿真验证。结果显示,与未改进的算法和其他主流算法相比,改进的渔夫捕鱼算法能够获得更优的运行策略,并且具有较强的收敛能力、较快的搜索速度以及良好的鲁棒性。 展开更多
关键词 并联冷水机 负荷分配 渔夫捕鱼算法 仿真验证 运行策略
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