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NON-INTERIOR SMOOTHING ALGORITHM FOR FRICTIONAL CONTACT PROBLEMS 认领 引用 被引量：1
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作者 张洪武 何素艳 李兴斯 《Applied Mathematics and Mechanics(English Edition)》 SCIE EI 2004年第1期47-58,共12页
A new algorithm for solving the three-dimensional elastic contact problem with friction is presented. The algorithm is a non-interior smoothing algorithm based on an NCP-function. The parametric variational principle ... A new algorithm for solving the three-dimensional elastic contact problem with friction is presented. The algorithm is a non-interior smoothing algorithm based on an NCP-function. The parametric variational principle and parametric quadratic programming method were applied to the analysis of three-dimensional frictional contact problem. The solution of the contact problem was finally reduced to a linear complementarity problem, which was reformulated as a system of nonsmooth equations via an NCP-function. A smoothing approximation to the nonsmooth equations was given by the aggregate function. A Newton method was used to solve the resulting smoothing nonlinear equations. The algorithm presented is easy to understand and implement. The reliability and efficiency of this algorithm are demonstrated both by the numerical experiments of LCP in mathematical way and the examples of contact problems in mechanics. 展开更多
关键词 three-dimensional frictional contact problem parametic quadratic programming method linear complementarity problem NCP-function aggregate function non-interior smoothing algorithm
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Dual smoothing ionospheric gradient monitoring algorithm for dual-frequency BDS GBAS 认领 引用 被引量：4
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作者 Zhipeng WANG Yu YIN +3 位作者 Dan SONG Kun FANG Qiang LI Xiao LI 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2020年第12期3395-3404,共10页
In this study,a Dual Smoothing Ionospheric Gradient Monitor Algorithm(DSIGMA)was developed for Code-Carrier Divergence(CCD)faults of dual-frequency Ground-Based Augmentation Systems(GBAS)based on the Bei Dou Navigatio... In this study,a Dual Smoothing Ionospheric Gradient Monitor Algorithm(DSIGMA)was developed for Code-Carrier Divergence(CCD)faults of dual-frequency Ground-Based Augmentation Systems(GBAS)based on the Bei Dou Navigation Satellite System(BDS).Divergence-Free(DF)combinations of the signals were used to form test statistics for a dualfrequency DSIGMA.First,the single-frequency DSIGMA was reviewed,which supports the GBAS approach service type D(GAST-D)for protection against the effect of large ionospheric gradients.The single-frequency DSIGMA was used to create a novel input scheme for the dual-frequency DSIGMA by introducing DF combinations.The steady states of the test statistics were also analysed.The monitors were characterized using BDS measurement data,whereby standard deviations of 0.0432 and 0.0639 m for the proposed two test statistics were used to calculate the monitor threshold.An extensive simulation was designed to assess the monitor performance by comparing the Probability of Missed Detection(PMD)according to the differential error with the range domain PMD limits under different fault modes.The results showed that the proposed algorithm has a higher integrity performance than the single-frequency monitor.The minimum detectable divergence with the same missed probability is less than 50%that of GAST-D. 展开更多
关键词 Approach Augmentation Integrity Ionosphere-monitoring Satellite navigation Smoothing algorithms Steady state Threshold
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Smoothing Newton Algorithm for Linear Programming over Symmetric Cones 认领 引用 被引量：3
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作者 刘晓红 倪铁 《Transactions of Tianjin University》 EI CAS 2009年第3期216-221,共6页
By using the theory of Euclidean Jordan algebras,based on a new class of smoothing functions,the QiSun-Zhou's smoothing Newton algorithm is extended to solve linear programming over symmetric cones(SCLP).The algor... By using the theory of Euclidean Jordan algebras,based on a new class of smoothing functions,the QiSun-Zhou's smoothing Newton algorithm is extended to solve linear programming over symmetric cones(SCLP).The algorithm is globally convergent under suitable assumptions. 展开更多
关键词 linear programming symmetric cone Euclidean Jordan algebra smoothing algorithm
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Smoothing Newton Algorithm for Solving Generalized Complementarity Problem 认领 引用
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作者 刘晓红 倪铁 《Transactions of Tianjin University》 EI CAS 2010年第1期75-79,共5页
The generalized complementarity problem includes the well-known nonlinear complementarity problem and linear complementarity problem as special cases.In this paper, based on a class of smoothing functions, a smoothing... The generalized complementarity problem includes the well-known nonlinear complementarity problem and linear complementarity problem as special cases.In this paper, based on a class of smoothing functions, a smoothing Newton-type algorithm is proposed for solving the generalized complementarity problem.Under suitable assumptions, the proposed algorithm is well-defined and global convergent. 展开更多
关键词 generalized complementarity problem smoothing Newton algorithm NCP function global convergence
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Smoothing Newton Algorithm for Nonlinear Complementarity Problem with a PFunction 认领 引用
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作者 刘丹红 黄涛 王萍 《Transactions of Tianjin University》 EI CAS 2007年第5期379-386,共8页
By using a smoothing function,the P nonlinear complementarity problem(P NCP)can be reformulated as a parameterized smooth equation.A Newton method is proposed to solve this equation.The iteration sequence generated by... By using a smoothing function,the P nonlinear complementarity problem(P NCP)can be reformulated as a parameterized smooth equation.A Newton method is proposed to solve this equation.The iteration sequence generated by the proposed algorithm is bounded and this algorithm is proved to be globally convergent under an assumption that the P NCP has a nonempty solution set.This assumption is weaker than the ones used in most existing smoothing algorithms.In particular,the solution obtained by the proposed algorithm is shown to be a maximally complementary solution of the P NCP without any additional assumption. 展开更多
关键词 P.nonlinear complementarity problem smoothing Newton algorithm maximally complementary solution
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Medical Quality-of-Service Optimization in Wireless Telemedicine System Using Optimal Smoothing Algorithm 认领 引用
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作者 Sodhro Ali Hassan Ye Li 《E-Health Telecommunication Systems and Networks》 2013年第1期1-8,共8页
In this paper we consider the transmission of stored video from a server to a client for medical applications such as, Telemonitoring, to optimize medical quality of service (m-QoS) and to examine how the client buffe... In this paper we consider the transmission of stored video from a server to a client for medical applications such as, Telemonitoring, to optimize medical quality of service (m-QoS) and to examine how the client buffer space can be used efficiently and effectively towards reducing the rate variability of the compressed variable bit rate (VBR) video. Three basic results are presented. First, we show how to obtain the greatest possible reduction in rate variability when sending stored video to client with a given buffer size. Second, how to reduce high peak data rate of compressed VBR video when a patient is moving/walking very fast in hospital. Third, we evaluate the impact of optimal smoothing algorithm on the network parameters such as, peak-to-mean ratio, standard deviation, delay, jitter, average delay and average jitter to optimize the m-QoS. To resolve these all problems we used optimal smoothing algorithm and show its performance over a set of long MPEG-4 encoded video traces. Simulation results show that m-QoS is optimized by minimizing network metrics. 展开更多
关键词 Wireless Telemedicine System Medical QoS Optimal Smoothing Algorithm Mobile Health
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A Control Strategy for Smoothing Active Power Fluctuation of Wind Farm with Flywheel Energy Storage System Based on Improved Wind Power Prediction Algorithm 认领 引用
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作者 J. C. Wang X. R. Wang 《Energy and Power Engineering》 2013年第4期387-392,共6页
The fluctuation of active power output of wind farm has many negative impacts on large-scale wind power integration into power grid. In this paper, flywheel energy storage system (FESS) was connected to AC side of the... The fluctuation of active power output of wind farm has many negative impacts on large-scale wind power integration into power grid. In this paper, flywheel energy storage system (FESS) was connected to AC side of the doubly-fed induction generator (DFIG) wind farm to realize smooth control of wind power output. Based on improved wind power prediction algorithm and wind speed-power curve modeling, a new smooth control strategy with the FESS was proposed. The requirement of power system dispatch for wind power prediction and flywheel rotor speed limit were taken into consideration during the process. While smoothing the wind power fluctuation, FESS can track short-term planned output of wind farm. It was demonstrated by quantitative analysis of simulation results that the proposed control strategy can smooth the active power fluctuation of wind farm effectively and thereby improve power quality of the power grid. 展开更多
关键词 Wind Power Generation FESS Wind Power Prediction Improved Time-series Algorithm Active Power Smooth Control
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EXTENSION OF SMOOTHING FUNCTIONS TO SYMMETRIC CONE COMPLEMENTARITY PROBLEMS 认领 引用 被引量：2
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作者 Liu Yongjin Zhang Liwei Liu Meijiao 《Applied Mathematics(A Journal of Chinese Universities)》 2007年第2期245-252,共8页
The paper uses Euclidean Jordan algebras as a basic tool to extend smoothing functions, which include the Chen-Mangasarian class and the Fischer-Burmeister smoothing functions, to symmetric cone complementarity proble... The paper uses Euclidean Jordan algebras as a basic tool to extend smoothing functions, which include the Chen-Mangasarian class and the Fischer-Burmeister smoothing functions, to symmetric cone complementarity problems. Computable formulas for these functions and their Jacobians are derived. In addition, it is shown that these functions are Lipschitz continuous with respect to parameter # and continuously differentiable on J × J for any μ 〉 0. 展开更多
关键词 symmetric cone complementarity problem smoothing function Euclidean Jordan algebra non-interior continuation method
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Smooth constraint inversion technique in genetic algorithms and its application to surface wave study in the Tibetan Plateau 认领 引用 被引量：3
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作者 吴建平 明跃红 曾融生 《Acta Seismologica Sinica(English Edition)》 2001年第1期49-57,共9页
Smooth constraint is important in linear inversion, but it is difficult to apply directly to model parameters in genetic algorithms. If the model parameters are smoothed in iteration, the diversity of models will be g... Smooth constraint is important in linear inversion, but it is difficult to apply directly to model parameters in genetic algorithms. If the model parameters are smoothed in iteration, the diversity of models will be greatly suppressed and all the models in population will tend to equal in a few iterations, so the optimal solution meeting requirement can not be obtained. In this paper, an indirect smooth constraint technique is introduced to genetic inversion. In this method, the new models produced in iteration are smoothed, then used as theoretical models in calculation of misfit function, but in process of iteration only the original models are used in order to keep the diversity of models. The technique is effective in inversion of surface wave and receiver function. Using this technique, we invert the phase velocity of Raleigh wave in the Tibetan Plateau, revealing the horizontal variation of S wave velocity structure near the center of the Tibetan Plateau. The results show that the S wave velocity in the north is relatively lower than that in the south. For most paths there is a lower velocity zone with 12-25 km thick at the depth of 15-40 km. The lower velocity zone in upper mantle is located below the depth of 100 km, and the thickness is usually 40-80 km, but for a few paths reach to 100 km thick. Among the area of Ando, Maqi and Ushu stations, there is an obvious lower velocity zone with the lowest velocity of 4.2-4.3 km/s at the depth of 90-230 km. Based on the S wave velocity structures of different paths and former data, we infer that the subduction of the Indian Plate is delimited nearby the Yarlung Zangbo suture zone. 展开更多
关键词 genetic algorithm smooth constraint surface wave S wave velocity structure Tibetan Plateau
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Greedy Algorithm in m-Term Approximation for Periodic Besov Class with Mixed Smoothness 认领 引用
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作者 宋占杰 叶培新 《Transactions of Tianjin University》 EI CAS 2009年第1期75-78,共4页
Nonlinear m-term approximation plays an important role in machine learning, signal processing and statistical estimating. In this paper by means of a nondecreasing dominated function, a greedy adaptive compression num... Nonlinear m-term approximation plays an important role in machine learning, signal processing and statistical estimating. In this paper by means of a nondecreasing dominated function, a greedy adaptive compression numerical algorithm in the best m -term approximation with regard to tensor product wavelet-type basis is pro-posed. The algorithm provides the asymptotically optimal approximation for the class of periodic functions with mixed Besov smoothness in the L q norm. Moreover, it depends only on the expansion of function f by tensor pro-duct wavelet-type basis, but neither on q nor on any special features of f. 展开更多
关键词 greedy algorithm m -term approximation Besov space mixed smoothness
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Variable structure multiple model fixed-interval smoothing 认领 引用 被引量：4
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作者 Bolun ZHANG Yongxin GAO Zhansheng DUAN 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2023年第2期139-148,共10页
This paper focuses on fixed-interval smoothing for stochastic hybrid systems.When the truth-mode mismatch is encountered,existing smoothing methods based on fixed structure of model-set have significant performance de... This paper focuses on fixed-interval smoothing for stochastic hybrid systems.When the truth-mode mismatch is encountered,existing smoothing methods based on fixed structure of model-set have significant performance degradation and are inapplicable.We develop a fixedinterval smoothing method based on forward-and backward-filtering in the Variable Structure Multiple Model(VSMM)framework in this paper.We propose to use the Simplified Equivalent model Interacting Multiple Model(SEIMM)in the forward and the backward filters to handle the difficulty of different mode-sets used in both filters,and design a re-filtering procedure in the model-switching stage to enhance the estimation performance.To improve the computational efficiency,we make the basic model-set adaptive by the Likely-Model Set(LMS)algorithm.It turns out that the smoothing performance is further improved by the LMS due to less competition among models.Simulation results are provided to demonstrate the better performance and the computational efficiency of our proposed smoothing algorithms. 展开更多
关键词 Fixed-interval smoothing Model-set adaptation Multiple model estimation Smoothing algorithm Variable structure
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Non-interior Continuation Algorithm for Solving System of Inequalities over Symmetric Cones 认领 引用
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作者 张颖 卢楠 《Transactions of Tianjin University》 EI CAS 2011年第2期89-95,共7页
As a basic mathematical structure,the system of inequalities over symmetric cones and its solution can provide an effective method for solving the startup problem of interior point method which is used to solve many o... As a basic mathematical structure,the system of inequalities over symmetric cones and its solution can provide an effective method for solving the startup problem of interior point method which is used to solve many optimization problems.In this paper,a non-interior continuation algorithm is proposed for solving the system of inequalities under the order induced by a symmetric cone.It is shown that the proposed algorithm is globally convergent and well-defined.Moreover,it can start from any point and only needs to solve one system of linear equations at most at each iteration.Under suitable assumptions,global linear and local quadratic convergence is established with Euclidean Jordan algebras.Numerical results indicate that the algorithm is efficient.The systems of random linear inequalities were tested over the second-order cones with sizes of 10,100,,1 000 respectively and the problems of each size were generated randomly for 10 times.The average iterative numbers show that the proposed algorithm can generate a solution at one step for solving the given linear class of problems with random initializations.It seems possible that the continuation algorithm can solve larger scale systems of linear inequalities over the secondorder cones quickly.Moreover,a system of nonlinear inequalities was also tested over Cartesian product of two simple second-order cones,and numerical results indicate that the proposed algorithm can deal with the nonlinear cases. 展开更多
关键词 system of inequalities symmetric cone non-interior continuation algorithm global linear convergence local quadratic convergence
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Fast Sparse Multipath Channel Estimation with Smooth L0 Algorithm for Broadband Wireless Communication Systems 认领 引用 被引量：1
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作者 Guan Gui Qun Wan +1 位作者 Ni Na Wang Cong Yu Huang 《Communications and Network》 2011年第1期1-7,共7页
Broadband wireless channels are often time dispersive and become strongly frequency selective in delay spread domain. Commonly, these channels are composed of a few dominant coefficients and a large part of coefficien... Broadband wireless channels are often time dispersive and become strongly frequency selective in delay spread domain. Commonly, these channels are composed of a few dominant coefficients and a large part of coefficients are approximately zero or under noise floor. To exploit sparsity of multi-path channels (MPCs), there are various methods have been proposed. They are, namely, greedy algorithms, iterative algorithms, and convex program. The former two algorithms are easy to be implemented but not stable;on the other hand, the last method is stable but difficult to be implemented as practical channel estimation problems be-cause of computational complexity. In this paper, we introduce a novel channel estimation strategy using smooth L0 (SL0) algorithm which combines stable and low complexity. Computer simulations confirm the effectiveness of the introduced algorithm. We also give various simulations to verify the sensing training signal method. 展开更多
关键词 Smooth L0 Algorithm Restricted Isometry Property Sparse Channel Estimation Compressed Sensing
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PERFORMANCE ANALYSIS FOR ATM SWITCHING OF MIXED CONTINUOUS-BIT-RATE AND BURSTY TRAFFIC WITH SMOOTHING FUNCTION 认领 引用
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作者 Liao Jianxin Li Lemin Sun Hairong 《Journal of Electronics(China)》 1997年第2期133-139,共7页
Traditional packet switching networks have typically employed window-based congestion control schemes in order to regulate traffic flow. In ATM networks, the high speed of the communication links and the varied nature... Traditional packet switching networks have typically employed window-based congestion control schemes in order to regulate traffic flow. In ATM networks, the high speed of the communication links and the varied nature of the carried traffic make such schemes inappropriate. Therefore, simpler and more efficient schemes have to be proposed to improve the congestion control for ATM switching. This paper presents an exact performance analysis of ATM switching whose inputs consist of Continuous-Bit-Rate(CBR) and bursty traffic. The CBR traffic and bursty traffic are described by Bernoulli process and the Interrupted Bernoulli Process(IBP), respectively. Bursty traffic smoothing mechanism is analyzed. With the use of a recursive algorithm, the cell loss probability and the average delay for ATM switching of mixed CBR and bursty traffic are exactly calculated. Traffic smoothing could be implemented at a slower peak rate keeping the average rate constant or decreasing the average bursty length. Both numerical 展开更多
关键词 ATM Interrupted Bernoulli process Burstiness Traffic smoothing Recursive algorithm
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低剂量胸部CT联合smooth算法重组对冠状动脉钙化的评估价值 认领 引用
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作者 王淑颖 陈馨 《中国CT和MRI杂志》 2025年第5期74-77,共4页
目的探讨低剂量胸部CT联合smooth算法重组对冠状动脉钙化评估的临床价值。方法选取2020年10月至2022年11月本院收治的70例冠状动脉钙化患者的一般资料进行回顾性分析。患者均开展心电门控CT平扫(ECG-gated CT)和非门控胸部低剂量CT扫描(... 目的探讨低剂量胸部CT联合smooth算法重组对冠状动脉钙化评估的临床价值。方法选取2020年10月至2022年11月本院收治的70例冠状动脉钙化患者的一般资料进行回顾性分析。患者均开展心电门控CT平扫(ECG-gated CT)和非门控胸部低剂量CT扫描(Low-dose computed tomography,LDCT),并将其设为A组和B组,其中B组每个患者图像都分别采用smooth、standard、sharp三种算法重组,再依次设为B1组、B2组、B3组。比较两位放射科医师对四组图像质量主观评价(背景噪声、整体图像质量评分)的一致性以及A、B1、B2、B3组图像质量的主观和客观指标情况和A、B组CT辐射剂量情况。结果两位放射科医师对A组、B1组、B2组、B3组背景噪声评分结果ICC分别为0.779、0.775、0.752、0.772,对整体图像质量评分结果ICC分别为0.854、0.856、0.873、0.810;B1组背景噪声、整体图像质量评分与A组相比较差异不显著(P>0.05),但B2组和B3组与A组背景噪声、整体图像质量评分比较均有明显差异(P<0.05);与A组相比较,B1、B2、B3组噪声值均较高(P<0.05),且B1组噪声值均小于B2、B3组(P<0.05);与A组相比较,B1、B2、B3组CNR、SNR值较低(P<0.05),且B1组CNR、SNR值均大于B2、B3组(P<0.05);与A组相比较,B组CTDlvol、DLP、ED剂量均较低(P<0.05)。结论将低剂量胸部CT扫描配合smooth算法重组应用于冠状动脉钙化的评估中,可获得较高的主观和客观图像质量,具有较高的临床应用价值,值得推广和使用。 展开更多
关键词 冠状动脉钙化 低剂量胸部CT smooth算法 应用价值
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基于双参数的GNSS/SINS故障检测及抗差自适应算法 认领 引用 被引量：1
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作者 赵桂玲 王金宝 +1 位作者 姜子昊 高帅 《北京航空航天大学学报》 EI CAS CSCD 北大核心 2026年第3期655-667,共13页
全球导航卫星系统(GNSS)信号易受到干扰产生故障,导致滤波器性能降低,影响全球导航卫星系统/捷联惯性导航系统(GNSS/SINS)组合导航系统输出精度。针对该问题,提出一种基于双参数的GNSS/SINS故障检测及抗差自适应算法。算法基于新息残差... 全球导航卫星系统(GNSS)信号易受到干扰产生故障,导致滤波器性能降低,影响全球导航卫星系统/捷联惯性导航系统(GNSS/SINS)组合导航系统输出精度。针对该问题,提出一种基于双参数的GNSS/SINS故障检测及抗差自适应算法。算法基于新息残差对系统量测数据进行评估,设计基于平滑有界层宽度的故障检测函数进行故障精确检测;利用故障检测函数值构造抗差协因数矩阵进行误差实时修正,提高状态估计的精度与鲁棒性。阶跃故障和缓变故障2类典型的GNSS故障实验结果表明:基于双参数的GNSS/SINS故障检测及抗差自适应算法与传统的基于残差卡方故障检测的抗差自适应算法相比,速度故障检测率提高7.6%~23.2%,位置故障检测率提高3.2%~12.3%;速度精度提高20.7%~27.1%,位置精度提高22.2%~34.6%。所提算法有效提高了GNSS/SINS组合导航系统的精度与鲁棒性。 展开更多
关键词 组合导航 故障检测 抗差自适应算法 新息残差 平滑有界层宽度
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两阶层体系蚁群算法的AGV路径规划 认领 引用 被引量：1
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作者 孟文俊 程文龙 +1 位作者 王艺锦 席超群 《机械设计与制造》 北大核心 2026年第2期368-373,共6页
传统蚁群算法通常收敛速度缓慢、搜索结果非最优结果,为此,提出了一种两阶层寻路的思想来对传统蚁群算法进行优化设计。第一阶段,按照基础算法跑出初始的蚁群粒子,为第二阶段的改进提供前提条件。第二阶段,在第一阶段的基础上,选择优质... 传统蚁群算法通常收敛速度缓慢、搜索结果非最优结果,为此,提出了一种两阶层寻路的思想来对传统蚁群算法进行优化设计。第一阶段,按照基础算法跑出初始的蚁群粒子,为第二阶段的改进提供前提条件。第二阶段,在第一阶段的基础上,选择优质粒子,对粒子进行一定的处理,扩大优劣粒子间的差异,增强优质粒子对之后迭代的权重系数,提高收敛速度,缩短收敛时间在寻路过程中,还对信息素进行了改进,加入转弯因子和路径因子,减少了AGV转弯次数,使得路径更加简单;路径因子赋予蚂蚁全局的感官,使其在寻路中不断通过全局环境调整方向,能够更快地找到目标点。仿真实验结果证明,该方法可以明显提高算法的收敛速度,节省路径规划时间,降低路径复杂程度,节约了AGV运行成本。 展开更多
关键词 路径规划 蚁群算法 信息素 平滑路径 收敛速度
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基于改进A*的模糊PID煤矿巡检机器人路径规划 认领 引用 被引量：1
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作者 金智新 罗实 +2 位作者 李永安 梁威 李佳浩 《电子测量技术》 北大核心 2026年第5期40-51,共12页
为应对煤矿巡检机器人在复杂、动态的井下巷道环境中进行路径规划时面临的安全性不足和跟踪精度差的挑战,本文提出了一种融合改进A*全局规划与模糊PID运动控制的路径规划方法。通过在传统A*算法的代价函数中引入障碍物代价项和动... 为应对煤矿巡检机器人在复杂、动态的井下巷道环境中进行路径规划时面临的安全性不足和跟踪精度差的挑战,本文提出了一种融合改进A*全局规划与模糊PID运动控制的路径规划方法。通过在传统A*算法的代价函数中引入障碍物代价项和动态加权策略,提高了全局路径规划的效率和安全性。采用B样条曲线对初始路径进行平滑处理,使路径更符合机器人运动学约束,增强可执行性与轨迹平滑性。设计了基于机器人运动模型的模糊PID控制器,替代传统PID,通过模糊控制自适应整定PID参数,实现了对平滑后全局路径的高精度、高稳定性跟踪控制,有效耦合了线速度与角速度控制。MATLAB和ROS Gazebo仿真实验结果表明,改进A*算法减少了搜索节点约65%,B样条处理显著提升路径平滑度,模糊模型PID控制器相比传统PID在路径跟踪精度和稳定性方面表现更优。最大横向误差范围在±0.05米内,最大航向误差控制在±0.2弧度范围内。该方法显著提升了煤矿巡检机器人路径规划与跟踪性能。 展开更多
关键词 巡检机器人 改进A*算法 B样条路径平滑 模糊PID 路径规划
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面向时间最优的机械臂平滑轨迹规划方法研究 认领 引用 被引量：1
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作者 姚建均 张宜坤 钱琛 《哈尔滨工程大学学报》 EI CAS CSCD 北大核心 2026年第6期1308-1317,共10页
为了提高机械臂运行效率,保证机械臂运动柔顺,本文针对机械臂关节空间的时间最优轨迹规划问题,提出了基于改进麻雀搜索算法的面向时间最优的机械臂平滑轨迹规划方法。基于非均匀有理B样条,建立了面向时间最优的轨迹优化模型;分析麻雀搜... 为了提高机械臂运行效率,保证机械臂运动柔顺,本文针对机械臂关节空间的时间最优轨迹规划问题,提出了基于改进麻雀搜索算法的面向时间最优的机械臂平滑轨迹规划方法。基于非均匀有理B样条,建立了面向时间最优的轨迹优化模型;分析麻雀搜索算法及其缺点,提出其改进策略;设计面向时间最优的机械臂平滑轨迹规划方法,寻找机械臂最优轨迹运行时间。仿真及实验结果表明,本文方法在运行时间方面较传统算法提升33%,此外加加速度均处于较低水平,表明具有较好的轨迹平滑性。该方法适用于对重复性要求较高的工业场景,能够实现高效、柔顺的机械臂轨迹规划任务。研究成果可为工业机器人高效率自动化作业及智能制造系统中的运动控制提供理论基础与技术支撑。 展开更多
关键词 机械臂 轨迹规划 时间最优 非有理均匀B样条 关节空间 运动平滑性 智能优化算法 改进麻雀搜索算法
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基于马尔可夫转移场与改进梦境优化算法的弓网电弧故障检测研究 认领 引用 被引量：1
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作者 李斌 郑睦译 《电子测量与仪器学报》 EI CSCD 北大核心 2026年第4期51-67,共17页
弓网电弧故障严重威胁列车安全运行,精准识别此类故障对保障铁路供电系统可靠性至关重要。针对传统方法在复杂工况下识别精度低,且难以兼顾时序与空间特征提取的问题,设计了一种基于马尔可夫转移场(MTF)与改进梦境优化算法的弓网电弧故... 弓网电弧故障严重威胁列车安全运行,精准识别此类故障对保障铁路供电系统可靠性至关重要。针对传统方法在复杂工况下识别精度低,且难以兼顾时序与空间特征提取的问题,设计了一种基于马尔可夫转移场(MTF)与改进梦境优化算法的弓网电弧故障检测方法。首先通过鲁棒经验模态分解对原始电流信号去噪,4种工况下去噪信号信噪比均超36 dB、相关系数大于0.985,最大程度保留故障瞬态特征;利用MTF将一维时序信号映射为二维特征矩阵,构建DarkNet19与门控循环单元双支路架构,分别提取深层视觉特征与时序动态特征,实现多模态信息互补;引入改进梦境优化算法对学习率、GRU神经元个数等关键参数自适应寻优,同时优化多头自注意力机制,通过L1稀疏正则化与冗余度自适应动态缩放因子抑制冗余信息;结合迁移学习突破故障样本稀缺限制。实验结果表明,该模型在4种不同工况下故障检测准确率达99.58%,精确率与召回率均超99.5%,较SVM、1D-CNN、ResNet等6种对比模型准确率提升3.75%~6.67%;抗噪声干扰实验中,去噪后检测准确率较含噪信号提升6.71%,展现出更强的鲁棒性,为弓网电弧故障精准诊断提供了有效技术方案。 展开更多
关键词 马尔可夫转移场 DarkNet19 改进梦境优化算法 迁移学习 平滑开发变异
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