scholarly journals A multi-robot allocation model for multi-object based on Global Optimal Evaluation of Revenue

2021 ◽  
Vol 18 (6) ◽  
pp. 172988142110606
Author(s):  
Xun Li ◽  
Zhi Zhang ◽  
Dan-Dan Wu ◽  
Michel Medema ◽  
Alexander Lavozik
Keyword(s):  
Numerical Simulation ◽  
Task Characteristics ◽  
Allocation Model ◽  
Object Based ◽  
Optimal Value ◽  
Fixed Set ◽  
Finite Set ◽  
Global Optimal ◽  
Optimal Evaluation ◽  
Multi Robot

The problem of global optimal evaluation for multi-robot allocation has gained attention constantly, especially in a multi-objective environment, but most algorithms based on swarm intelligence are difficult to give a convergent result. For solving the problem, we established a Global Optimal Evaluation of Revenue method of multi-robot for multi-tasks based on the real textile combing production workshop, consumption, and different task characteristics of mobile robots. The Global Optimal Evaluation of Revenue method could traversal calculates the profit of each robot corresponding to different tasks with global traversal over a finite set, then an optimization result can be converged to the global optimal value avoiding the problem that individual optimization easy to fall into local optimal results. In the numerical simulation, for fixed set of multi-object and multi-task, we used different numbers of robots allocation operation. We then compared with other methods: Hungarian, the auction method, and the method based on game theory. The results showed that Global Optimal Evaluation of Revenue reduced the number of robots used by at least 17%, and the delay time could be reduced by at least 16.23%.

Multi Robot Object-Based SLAM

2017 ◽  
pp. 729-741 ◽  
Author(s):  
Siddharth Choudhary ◽  
Luca Carlone ◽  
Carlos Nieto ◽  
John Rogers ◽  
Zhen Liu ◽  
...  
Keyword(s):  
Object Based ◽  
Multi Robot

Warehousing operation optimization model of one storey new dangerous goods warehouse based on warehousing chain and its application

2020 ◽  
Vol 01 ◽  
Author(s):  
Xiaguang Li ◽  
Xiefang Lin ◽  
Fangwei Zhang ◽  
Xufeng Tang ◽  
Ruolin Qiu ◽  
...  
Keyword(s):  
Numerical Simulation ◽  
Evaluation Model ◽  
Optimal Solution ◽  
The Novel ◽  
Allocation Model ◽  
Scheduling Scheme ◽  
Dangerous Goods ◽  
Novel Theory ◽  
Time Optimal ◽  
Scheme Evaluation

Introduction: In order to ensure the efficiency and cost of dangerous goods warehouse under the premise of safety, this study takes the dangerous goods warehouse as the research object and implements multitask for dangerous goods warehouse with two forklifts. Methods: This study takes traversal calculation, novel safety calculation formula and scheduling scheme evaluation model as tools to research the forklift scheduling scheme of one-stoery packed dangerous goods warehouse. Results: Optimal scheme and allocation decision model are obtained through numerical simulation. The innovation of this study is giving the safety formula of forklift operation in dangerous goods warehouse and using numerical simulation to obtain the global optimal solution. Furthermore, this study draws on the concept of travel chain to propose the idea of warehousing chain. At the same time, optimal schemes for multiple dangerous goods inbound and outbound the warehouse are studied. Conclusion: With the application of actual data in Shanghai Lingang dangerous goods warehouse, this study combines with the simulation technology to verify the allocation model of warehousing operations and forklift scheduling model. The validity and feasibility of the novel theory are also verified.

scholarly journals Identification of Robot Joint Torsional Stiffness Based on the Amplitude of the Frequency Response of Asynchronous Data

Machines ◽  
2021 ◽  
Vol 9 (9) ◽  
pp. 204
Author(s):  
Kai Xu ◽  
Xing Wu ◽  
Xiaoqin Liu ◽  
Dongxiao Wang
Keyword(s):  
Frequency Response ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Torsional Stiffness ◽  
Criterion Function ◽  
Error Criterion ◽  
Optimal Value ◽  
Global Optimal ◽  
Complete Frequency ◽  
Excitation Method

The difficulty of adding external excitation and the asynchronous data collection from the industrial robot operation limited the online parameter identification of industrial robots. In this regard, this study proposes an identification method that only uses the amplitude of the frequency response function (FRF) of the system to identify robot joint torsional stiffness and dynamic parameters. The error criterion function shows that this method is feasible and comparable to applying the complete frequency response for identification. The Levenberg–Marquardt (L-M) algorithm is used to find the global optimal value of the error criterion function. In addition, an operational excitation method is proposed to excite the system. The speed profile is set as a triangle wave to excite the system using rectangular wave electromagnetic torques. The simulation results show that using the amplitude of the FRF to identify parameters applies to asynchronous data. The experiments on a single-degree-of-freedom articulated arm test bench show that the motion excitation method is effective, and both stiffness and inertia are identifiable.

Periodicity Constraint Task Allocation Model Based on Reputation for the Multi-Robot System

2012 ◽  
Vol 11 (1) ◽  
pp. 473-478
Author(s):  
Zhiguo Shi ◽  
Jun Tu ◽  
Junming Wei ◽  
Zhiliang Wang ◽  
Qiao Zhang
Keyword(s):  
Task Allocation ◽  
Robot System ◽  
Allocation Model ◽  
Model Based ◽  
Multi Robot

Numerical Simulation of Flow Field and Heat Transfer inside a New Enhanced Tube

2014 ◽  
Vol 513-517 ◽  
pp. 2629-2634
Author(s):  
Cheng Long Xu ◽  
Wei Jun Liu ◽  
Wei Ping Hu
Keyword(s):  
Heat Transfer ◽  
Numerical Simulation ◽  
Field Synergy ◽  
Ansys Fluent ◽  
Flow And Heat Transfer ◽  
Exhaust Heat ◽  
Optimal Value ◽  
Enhanced Tube ◽  
Plain Tube ◽  
Simplec Algorithm

A numerical simulation was carried out for the flow and heat transfer in the Double-Inclined Streamlined Ribs tube (DISR tube) which is used in the automobile exhaust heat recovery. This paper is aimed to find the optimum ribs parameters for best heat transfer perfomance. The solution was calculated by ANSYS/FLUENT and the SIMPLEC algorithm was used for the velocity-pressure coupling. The results shows that the optimal value of DISR tube is rib length (l=38mm), rib inclined degree (α=45o), rib height (h=2.5mm) and rib pitch (P=60mm). The heat transfer in the DISR tube is enhanced 72.6% on average compared with a plain tube and the friction factor increases 180.9% on average at Re=12000~50000. In the DISR tube, the field synergy angle reduce from 90° to 80° and the heat transfer is enhanced significantly. The paper shows that the field synergy angle declines greatly near every ribs, and this is the chief reason for the heat transfer enhancement.

scholarly journals Costate Estimation of PMP-Based Control Strategy for PHEV Using Legendre Pseudospectral Method

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Hanbing Wei ◽  
Yao Chen ◽  
Zhiyuan Peng
Keyword(s):  
Control Strategy ◽  
Pseudospectral Method ◽  
Jump Condition ◽  
Condition Estimation ◽  
Optimal Value ◽  
Equivalent Fuel ◽  
Driving Condition ◽  
Global Optimal ◽  
Legendre Pseudospectral Method ◽  
Equivalent Fuel Consumption

Costate value plays a significant role in the application of PMP-based control strategy for PHEV. It is critical for terminal SOC of battery at destination and corresponding equivalent fuel consumption. However, it is not convenient to choose the approximate costate in real driving condition. In the paper, the optimal control problem of PHEV based on PMP has been converted to nonlinear programming problem. By means of KKT condition costate can be approximated as KKT multipliers of NLP divided by the LGL weights. A kind of general costate estimation approach is proposed for predefined driving condition in this way. Dynamic model has been established in Matlab/Simulink in order to prove the effectiveness of the method. Simulation results demonstrate that the method presented in the paper can deduce the closer value of global optimal value than constant initial costate value. This approach can be used for initial costate and jump condition estimation of PMP-based control strategy for PHEV.

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