scholarly journals Picking Path Optimization of Agaricus bisporus Picking Robot

2019 ◽  
Vol 2019 ◽  
pp. 1-16
Author(s):  
Xiaomei Hu ◽  
Zhaoren Pan ◽  
Shunke Lv
Keyword(s):  
Field Experiments ◽  
Search Algorithm ◽  
Optimal Path ◽  
Temperature Drop ◽  
Optimization Method ◽  
Labor Cost ◽  
Path Optimization ◽  
Parallel Optimization ◽  
Storage Location ◽  
Short Time

The design and application of the mushroom picking robot will greatly reduce the labor cost, and it has become one of the research hotspots in the world. Therefore, we independently developed an A. bisporus (a kind of mushroom) picking robot and introduced its functional principle in this paper. At the same time, in order to improve the picking efficiency of the picking robot, a picking path optimization algorithm based on TSP model is proposed. Firstly, based on the TSP model, a picking route model for A. bisporus was established to determine the storage location of each A. bisporus. Then, an improved simulated annealing (I-SA) search algorithm is proposed to find the optimal path sequence. By improving the path initialization module, path generation module, and temperature drop module, the I-SA search algorithm can optimize the picking path in a short time. Finally, in order to improve the stability and reduce the running time of the I-SA search algorithm, a parallel optimization method for global search (“rough exploration”) and local search (“precision exploration”) is proposed. Through simulation experiments, the I-SA search algorithm can search stable and excellent path solution in a relatively short time. Through field experiments on mushroom base, the efficiency of picking A. bisporus can be improved by 14% to 18%, which verifies the effectiveness of the I-SA search algorithm.

scholarly journals PCB Drill Path Optimization by Combinatorial Cuckoo Search Algorithm

2014 ◽  
Vol 2014 ◽  
pp. 1-11 ◽  
Author(s):  
Wei Chen Esmonde Lim ◽  
G. Kanagaraj ◽  
S. G. Ponnambalam
Keyword(s):  
Manufacturing Systems ◽  
Printed Circuit Boards ◽  
Search Algorithm ◽  
Optimal Path ◽  
Cuckoo Search ◽  
Cuckoo Search Algorithm ◽  
Production Costs ◽  
Path Optimization ◽  
Drilling Process ◽  
Machining Time

Optimization of drill path can lead to significant reduction in machining time which directly improves productivity of manufacturing systems. In a batch production of a large number of items to be drilled such as printed circuit boards (PCB), the travel time of the drilling device is a significant portion of the overall manufacturing process. To increase PCB manufacturing productivity and to reduce production costs, a good option is to minimize the drill path route using an optimization algorithm. This paper reports a combinatorial cuckoo search algorithm for solving drill path optimization problem. The performance of the proposed algorithm is tested and verified with three case studies from the literature. The computational experience conducted in this research indicates that the proposed algorithm is capable of efficiently finding the optimal path for PCB holes drilling process.

scholarly journals An Optimized Trajectory Planner and Motion Controller Framework for Autonomous Driving in Unstructured Environments

Sensors ◽  
2021 ◽  
Vol 21 (13) ◽  
pp. 4409
Author(s):  
Lu Xiong ◽  
Zhiqiang Fu ◽  
Dequan Zeng ◽  
Bo Leng
Keyword(s):  
Search Algorithm ◽  
Optimal Path ◽  
Kinematic Model ◽  
Autonomous Driving ◽  
Optimization Method ◽  
Planning Problem ◽  
Motion Controller ◽  
Space Domain ◽  
Unstructured Environments ◽  
Path Planner

This paper proposes an optimized trajectory planner and motion planner framework, which aim to deal with obstacle avoidance along a reference road for autonomous driving in unstructured environments. The trajectory planning problem is decomposed into lateral and longitudinal planning sub-tasks along the reference road. First, a vehicle kinematic model with road coordinates is established to describe the lateral movement of the vehicle. Then, nonlinear optimization based on a vehicle kinematic model in the space domain is employed to smooth the reference road. Second, a multilayered search algorithm is applied in the lateral-space domain to deal with obstacles and find a suitable path boundary. Then, the optimized path planner calculates the optimal path by considering the distance to the reference road and the curvature constraints. Furthermore, the optimized speed planner takes into account the speed boundary in the space domain and the constraints on vehicle acceleration. The optimal speed profile is obtained by using a numerical optimization method. Furthermore, a motion controller based on a kinematic error model is proposed to follow the desired trajectory. Finally, the experimental results show the effectiveness of the proposed trajectory planner and motion controller framework in handling typical scenarios and avoiding obstacles safely and smoothly on the reference road and in unstructured environments.

Review of Various A* Pathfinding Implementations in Game Autonomous Agent

2019 ◽  
Vol 6 (1) ◽  
pp. 43-49
Author(s):  
Alethea Suryadibrata ◽  
Julio Cristian Young ◽  
Richard Luhulima
Keyword(s):  
Data Structure ◽  
Data Structures ◽  
Search Algorithm ◽  
Optimal Path ◽  
Autonomous Agent ◽  
Heuristic Function ◽  
Best First Search ◽  
Short Time ◽  
Grid Based ◽  
Selection Of

Among many pathfinding algorithms, A* search algorithm is an algorithm that most commonly used in grid-based pathfinding. This is due to implementation of A* search which proven to be able to generate the optimal path in a relatively short time by combining two characteristics of Djikstra's and best-first search algorithm. In the implementation of A* search, the selection of heuristic function and data structure can affect the performance of the algorithm. The purpose of this research is to find the best heuristic function and data structure with regards of the performance in A* search implementation as a pathfinding algorithm in a 3D platform. In the experiment, some known heuristic functions and data structures will be tested on the various 3D platform with a different size and obstacle percentage. Based on experiment that have been done, euclidean squared distance is best heuristic function for 3D pathfinding problem, with regards of the implementation performance. In addition, we also found that binary heap is the best data structure to be implemented for 3D pathfinding problem, with regards of implementation performance. 

scholarly journals Dynamic Path Optimization with Real-Time Information for Emergency Evacuation

2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Huajun Zhang ◽  
Qin Zhao ◽  
Zihui Cheng ◽  
Linfan Liu ◽  
Yixin Su
Keyword(s):  
Real Time ◽  
Optimal Path ◽  
Emergency Evacuation ◽  
Path Optimization ◽  
Breadth First Search ◽  
Exit Port ◽  
Dynamic Path ◽  
Short Time ◽  
Real Time Information ◽  
Time Information

In order to find the optimal path for emergency evacuation, this paper proposes a dynamic path optimization algorithm based on real-time information to search the optimal path and it takes fire accident as an example to introduce the algorithm principle. Before the accidents, it uses the Dijkstra algorithm to get the prior evacuation network which includes evacuation paths from each node to the exit port. When the accidents occur, the evacuees are unable to pass through the passage where the accident point and the blocking point are located, then the proposed method uses the breadth-first search strategy to solve the path optimization problem based on the prior evacuation network, and it dynamically updates the evacuation path according to the real-time information. Because the prior evacuation network includes global optimal evacuation paths from each node to the exit port, the breadth-first search algorithm only searches local optimal paths to avoid the blockage node or dangerous area. Because the online optimization solves a local pathfinding problem and the entire topology optimization is an offline calculation, the proposed method can find the optimal path in a short time when the accident situation changes. The simulation tests the performances of the proposed algorithm with different situations based on the topology of a building, and the results show that the proposed algorithm is effective to get the optimal path in a short time when it faces changes caused by the factors such as evacuee size, people distribution, blockage location, and accident points.

scholarly journals Decentralized Optimization for a Novel Control Structure of HVAC System

2016 ◽  
Vol 2016 ◽  
pp. 1-13 ◽  
Author(s):  
Shiqiang Wang ◽  
Jianchun Xing ◽  
Ziyan Jiang ◽  
Juelong Li
Keyword(s):  
Control System ◽  
Decentralized Control ◽  
Control Structure ◽  
Optimization Method ◽  
Labor Cost ◽  
Smart Device ◽  
Hvac System ◽  
Decentralized Optimization ◽  
System A ◽  
Novel Method

A decentralized control structure is introduced into the heating, ventilation, and air conditioning (HVAC) system to solve the high maintenance and labor cost problem in actual engineering. Based on this new control system, a decentralized optimization method is presented for sensor fault repair and optimal group control of HVAC equipment. Convergence property of the novel method is theoretically analyzed considering both convex and nonconvex systems with constraints. In this decentralized control system, traditional device is fitted with a control chip such that it becomes a smart device. The smart device can communicate and operate collaboratively with the other devices to accomplish some designated tasks. The effectiveness of the presented method is verified by simulations and hardware tests.

Cable-path optimization method for industrial robot arms

2022 ◽  
Vol 73 ◽  
pp. 102245
Author(s):  
Shintaro Iwamura ◽  
Yoshiki Mizukami ◽  
Takahiro Endo ◽  
Fumitoshi Matsuno
Keyword(s):  
Industrial Robot ◽  
Optimization Method ◽  
Path Optimization ◽  
Robot Arms

Simulation Study of Damage Identification Method Based on Lamb Wave Scattering in Aluminium Plate

2012 ◽  
Vol 433-440 ◽  
pp. 2611-2618
Author(s):  
Zhen Hua Tian ◽  
Hong Yuan Li ◽  
Hong Xu
Keyword(s):  
Energy Distribution ◽  
Lamb Wave ◽  
Damage Identification ◽  
Optimization Method ◽  
Propagation Path ◽  
Transient Dynamic Analysis ◽  
Time Frequency ◽  
Damage Location ◽  
Identification Method ◽  
Short Time

The propagation of scattering Lamb wave in plate was simulated using transient dynamic analysis in ANSYS. In order to extract the characteristic information of received signal for damage identification, the short time Fourier transform based on time-frequency analysis was utilized, and then the energy distribution and envelop of received signal were obtained. Based on the displacement contour of simulation and energy distribution, the propagation of scattering wave in plate with a through hole was examined. Also, a mathematic relationship between damage location and scattering signal was developed, with the help of wave propagation path through actuator, damage and sensor. A nonlinear optimization method was applied on the mathematic relationship to obtain the damage location. The damage identification method using scattering Lamb wave was therefore established.

Optimization Method of the Multistage Axial Compressors Using CFD Simulation

2021 ◽  
pp. 2141006
Author(s):  
Grigorii Popov ◽  
Igor Egorov ◽  
Evgenii Goriachkin ◽  
Oleg Baturin ◽  
Daria Kolmakova ◽  
...  
Keyword(s):  
Cfd Simulation ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Pressure Ratio ◽  
Optimization Method ◽  
Cfd Modeling ◽  
Turbine Engines ◽  
Stability Margins ◽  
Axial Compressors ◽  
Cfd Models

The current level of numerical methods of gas dynamics makes it possible to optimize compressors using 3D CFD models. However, the methods and means are not sufficiently developed for their wide application. This paper describes a new method for the optimization of multistage axial compressors based on 3D CFD modeling and summarizes the experience of its application. The developed method is a complex system of interconnected components (an effective mathematical model, a parameterizer, and an optimum search algorithm). The use of the method makes it possible to improve or provide the necessary values of the main gas-dynamic parameters of the compressor by changing the shape of the blades and their relative position. The method was tested in solving optimization problems for multistage axial compressors of gas turbine engines (the number of stages from 3 to 15). As a result, an increase in efficiency, pressure ratio, and stability margins was achieved. The presented work is a summary of a long-years investigation of the research team and aims at creating a complete picture of the obtained results for the reader. A brief description of the results of industrial compresses optimization contained in the paper is given as an illustration of the effectiveness of the developed methods.

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