In this paper,a comparative study of the path planning problem using evolutionary algorithms,in comparison with classical methods such as the A*algorithm,is presented for a holonomic mobile robot.The configured naviga...In this paper,a comparative study of the path planning problem using evolutionary algorithms,in comparison with classical methods such as the A*algorithm,is presented for a holonomic mobile robot.The configured navigation system,which consists of the integration of sensors sources,map formatting,global and local path planners,and the base controller,aims to enable the robot to follow the shortest smooth path delicately.Grid-based mapping is used for scoring paths efficiently,allowing the determination of collision-free trajectories from the initial to the target position.This work considers the evolutionary algorithms,the mutated cuckoo optimization algorithm(MCOA)and the genetic algorithm(GA),as a global planner to find the shortest safe path among others.A non-uniform motion coefficient is introduced for MCOA in order to increase the performance of this algorithm.A series of experiments are accomplished and analyzed to confirm the performance of the global planner implemented on a holonomic mobile robot.The results of the experiments show the capacity of the planner framework with respect to the path planning problem under various obstacle layouts.展开更多
In order to measure the uncertain information of a type- 2 intuitionistic fuzzy set （T21FS）, an entropy measure of T21FS is presented by using the constructive principles. The proposed entropy measure is also proved...In order to measure the uncertain information of a type- 2 intuitionistic fuzzy set （T21FS）, an entropy measure of T21FS is presented by using the constructive principles. The proposed entropy measure is also proved to satisfy all of the constructive principles. Further, a novel concept of the type-2 triangular in- tuitionistic trapezoidal fuzzy set （T2TITrFS） is developed, and a geometric interpretation of the T2TITrFS is given to comprehend it completely or correctly in a more intuitive way. To deal with a more general uncertain complex system, the constructive principles of an entropy measure of T2TITrFS are therefore proposed on the basis of the axiomatic definition of the type-2 intuitionisic fuzzy entropy measure. This paper elicits a formula of type-2 triangular intuitionistic trapezoidal fuzzy entropy and verifies that it does sa- tisfy the constructive principles. Two examples are given to show the efficiency of the proposed entropy of T2TITrFS in describing the uncertainty of the type-2 intuitionistic fuzzy information and illustrate its application in type-2 triangular intuitionistic trapezodial fuzzy decision making problems.展开更多
This research has successfully developed an advance d manufacturing system for 300mm silicon wafer,using fixed abrasive instead o f conventional free slurry,to provide a totally integrated solution for achievi ng the ...This research has successfully developed an advance d manufacturing system for 300mm silicon wafer,using fixed abrasive instead o f conventional free slurry,to provide a totally integrated solution for achievi ng the surface roughness Ra<1 nm(Ry<5～6 nm) and the global flatness<O.2μm /300 mm.In addition to high throughput rate,this system significantly reduc es the total energy consumption by 70%,compared with the current process used for 200mm Si wafer.This paper describes the principle of material removal,st ate-of-the-art technologies and kinematical analysis for one-stop finishing o f 300mm Si wafer by fixed abrasive process.展开更多
Ordering based search methods have advantages over graph based search methods for structure learning of Bayesian networks in terms on the efficiency. With the aim of further increasing the accuracy of ordering based s...Ordering based search methods have advantages over graph based search methods for structure learning of Bayesian networks in terms on the efficiency. With the aim of further increasing the accuracy of ordering based search methods, we first propose to increase the search space, which can facilitate escaping from the local optima. We present our search operators with majorizations, which are easy to implement. Experiments show that the proposed algorithm can obtain significantly more accurate results. With regard to the problem of the decrease on efficiency due to the increase of the search space, we then propose to add path priors as constraints into the swap process. We analyze the coefficient which may influence the performance of the proposed algorithm, the experiments show that the constraints can enhance the efficiency greatly, while has little effect on the accuracy. The final experiments show that, compared to other competitive methods, the proposed algorithm can find better solutions while holding high efficiency at the same time on both synthetic and real data sets.展开更多
Suppose X = (Xr, Fr, t ∈ R+) be an optional reward process with ( Fr) satisfying usual conditions. In this paper, we correct the proof of existence about Snell envelope in [4] and the proof of an important lemma (Lem...Suppose X = (Xr, Fr, t ∈ R+) be an optional reward process with ( Fr) satisfying usual conditions. In this paper, we correct the proof of existence about Snell envelope in [4] and the proof of an important lemma (Lemma 4. 6) in [5], and give a proof of existence about Snell envelope under certain conditions, i. e. EZx- 【 ∞ and Z is upper-semi-continuous on the right (USCR) or there is a stopping rule (SR)τ ≤σ such that EZx-∞ for any stopping rule σ . At the same time, we prove a four-repeated limit theorem when Z is continuous on the right. The character and the uniqueness of the optimal stopping time (OST) or optimal stopping rule (OSR) are discussed.展开更多
文摘In this paper,a comparative study of the path planning problem using evolutionary algorithms,in comparison with classical methods such as the A*algorithm,is presented for a holonomic mobile robot.The configured navigation system,which consists of the integration of sensors sources,map formatting,global and local path planners,and the base controller,aims to enable the robot to follow the shortest smooth path delicately.Grid-based mapping is used for scoring paths efficiently,allowing the determination of collision-free trajectories from the initial to the target position.This work considers the evolutionary algorithms,the mutated cuckoo optimization algorithm(MCOA)and the genetic algorithm(GA),as a global planner to find the shortest safe path among others.A non-uniform motion coefficient is introduced for MCOA in order to increase the performance of this algorithm.A series of experiments are accomplished and analyzed to confirm the performance of the global planner implemented on a holonomic mobile robot.The results of the experiments show the capacity of the planner framework with respect to the path planning problem under various obstacle layouts.
基金supported by the National Natural Science Foundation of China(7137115670971017)the Research Grants Council of the Hong Kong Special Administrative Region,China(City U112111)
文摘In order to measure the uncertain information of a type- 2 intuitionistic fuzzy set （T21FS）, an entropy measure of T21FS is presented by using the constructive principles. The proposed entropy measure is also proved to satisfy all of the constructive principles. Further, a novel concept of the type-2 triangular in- tuitionistic trapezoidal fuzzy set （T2TITrFS） is developed, and a geometric interpretation of the T2TITrFS is given to comprehend it completely or correctly in a more intuitive way. To deal with a more general uncertain complex system, the constructive principles of an entropy measure of T2TITrFS are therefore proposed on the basis of the axiomatic definition of the type-2 intuitionisic fuzzy entropy measure. This paper elicits a formula of type-2 triangular intuitionistic trapezoidal fuzzy entropy and verifies that it does sa- tisfy the constructive principles. Two examples are given to show the efficiency of the proposed entropy of T2TITrFS in describing the uncertainty of the type-2 intuitionistic fuzzy information and illustrate its application in type-2 triangular intuitionistic trapezodial fuzzy decision making problems.
文摘This research has successfully developed an advance d manufacturing system for 300mm silicon wafer,using fixed abrasive instead o f conventional free slurry,to provide a totally integrated solution for achievi ng the surface roughness Ra<1 nm(Ry<5～6 nm) and the global flatness<O.2μm /300 mm.In addition to high throughput rate,this system significantly reduc es the total energy consumption by 70%,compared with the current process used for 200mm Si wafer.This paper describes the principle of material removal,st ate-of-the-art technologies and kinematical analysis for one-stop finishing o f 300mm Si wafer by fixed abrasive process.
基金supported by the National Natural Science Fundation of China(61573285)the Doctoral Fundation of China(2013ZC53037)
文摘Ordering based search methods have advantages over graph based search methods for structure learning of Bayesian networks in terms on the efficiency. With the aim of further increasing the accuracy of ordering based search methods, we first propose to increase the search space, which can facilitate escaping from the local optima. We present our search operators with majorizations, which are easy to implement. Experiments show that the proposed algorithm can obtain significantly more accurate results. With regard to the problem of the decrease on efficiency due to the increase of the search space, we then propose to add path priors as constraints into the swap process. We analyze the coefficient which may influence the performance of the proposed algorithm, the experiments show that the constraints can enhance the efficiency greatly, while has little effect on the accuracy. The final experiments show that, compared to other competitive methods, the proposed algorithm can find better solutions while holding high efficiency at the same time on both synthetic and real data sets.
基金This paper is supported by pre-research fund of the University
文摘Suppose X = (Xr, Fr, t ∈ R+) be an optional reward process with ( Fr) satisfying usual conditions. In this paper, we correct the proof of existence about Snell envelope in [4] and the proof of an important lemma (Lemma 4. 6) in [5], and give a proof of existence about Snell envelope under certain conditions, i. e. EZx- 【 ∞ and Z is upper-semi-continuous on the right (USCR) or there is a stopping rule (SR)τ ≤σ such that EZx-∞ for any stopping rule σ . At the same time, we prove a four-repeated limit theorem when Z is continuous on the right. The character and the uniqueness of the optimal stopping time (OST) or optimal stopping rule (OSR) are discussed.
