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    Wyświetlanie 1-8 z 8
    Tytuł:
    Ants Colony Optimisation of a Measuring Path of Prismatic Parts on a CMM
    Autorzy:
    Stojadinovic, S. M.
    Majstorovic, V. D.
    Durakbasa, N. M.
    Sibalija, T. V.
    Powiązania:
    https://bibliotekanauki.pl/articles/221131.pdf
    Data publikacji:
    2016
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    path planning
    ACO
    CMM
    prismatic parts
    Opis:
    This paper presents optimisation of a measuring probe path in inspecting the prismatic parts on a CMM. The optimisation model is based on: (i) the mathematical model that establishes an initial collision-free path presented by a set of points, and (ii) the solution of Travelling Salesman Problem (TSP) obtained with Ant Colony Optimisation (ACO). In order to solve TSP, an ACO algorithm that aims to find the shortest path of ant colony movement (i.e. the optimised path) is applied. Then, the optimised path is compared with the measuring path obtained with online programming on CMM ZEISS UMM500 and with the measuring path obtained in the CMM inspection module of Pro/ENGINEER® software. The results of comparing the optimised path with the other two generated paths show that the optimised path is at least 20% shorter than the path obtained by on-line programming on CMM ZEISS UMM500, and at least 10% shorter than the path obtained by using the CMM module in Pro/ENGINEER®.
    Źródło:
    Metrology and Measurement Systems; 2016, 23, 1; 119-132
    0860-8229
    Pojawia się w:
    Metrology and Measurement Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Impulse artificial neural networks in internal transport
    Autorzy:
    Ochelska-Mierzejewska, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/407219.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    internal transport
    impulse artificial neural networks
    dynamic path planning
    Opis:
    The second most important function of a warehouse, apart from the storing of goods, is internal transport with a focus on time-effectiveness. When there is a time gap between the production and export of products, the goods need to be stored until they are dispatched to the consumers. An important problem that concerns both large and small warehouses is the selection of priorities, that is handling the tasks in order of importance. Another problem is to identify the most efficient routes for forklift trucks to transport goods from a start-point to a desired destination and prevent the routes from overlapping. In automated warehouses, the transport of objects (the so called pallets of goods) is performed by machines controlled by a computer instead of a human operator. Thus, it is the computer, not the man, that makes the difficult decisions regarding parallel route planning, so that the materials are transported within the warehouse in near-optimal time. This paper presents a method for enhancing this process.
    Źródło:
    Management and Production Engineering Review; 2014, 5, 2; 33-44
    2080-8208
    2082-1344
    Pojawia się w:
    Management and Production Engineering Review
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Obstacle Avoidance Procedure and Lee Algorithm Based Path Replanner for Autonomous Mobile Platforms
    Autorzy:
    Polańczyk, M.
    Strzelecki, M.
    Ślot, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/226622.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    mobile platform motion system
    camera motion estimation
    map of obstacles
    path planning
    Opis:
    The paper proposes solution for two important issues connected to navigation of independent mobile platforms in an unknown environment. First issue relates to obstacle map, estimated based on stereovision images. It provides a basis for further platform path-planning. The main problem that has to be solved in obstacle map derivation is elimination of artifacts resulting from depth estimation. Thus a two-step artifact filtering procedure is proposed, which exploits both within-frame spatial correlations as well as temporal, between-frame correlations to do this task. Second procedure, based on well-known Lees algorithm is designed for obtaining vehicle collisionless path. Such routes need to be updated on-the-fly to take into account moving obstacles or newly detected objects. The main idea of the proposed approach is to identify regions where environment has changed and to execute a procedure of selective path updates. As a result, an optimal path can be derived at a computational expense comparable to the heuristic Lifelong A* search. Experiment results demonstrate efficiency of the two discussed approaches for platform operation control in real environments, where both static and moving obstacles are present.
    Źródło:
    International Journal of Electronics and Telecommunications; 2013, 59, 1; 85-91
    2300-1933
    Pojawia się w:
    International Journal of Electronics and Telecommunications
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Navigation of autonomous mobile robot using different activation functions of wavelet neural network
    Autorzy:
    Panigrahi, P. K.
    Ghosh, S.
    Parhi, D. R.
    Powiązania:
    https://bibliotekanauki.pl/articles/229613.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous mobile robot
    activation functions
    obstacle avoidance
    path planning
    wavelet neural network
    Opis:
    An autonomous mobile robot is a robot which can move and act autonomously without the help of human assistance. Navigation problem of mobile robot in unknown environment is an interesting research area. This is a problem of deducing a path for the robot from its initial position to a given goal position without collision with the obstacles. Different methods such as fuzzy logic, neural networks etc. are used to find collision free path for mobile robot. This paper examines behavior of path planning of mobile robot using three activation functions of wavelet neural network i.e. Mexican Hat, Gaussian and Morlet wavelet functions by MATLAB. The simulation result shows that WNN has faster learning speed with respect to traditional artificial neural network.
    Źródło:
    Archives of Control Sciences; 2015, 25, 1; 21-34
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Ant colony optimization for data acquisition mission planning
    Autorzy:
    Colmenares, G.
    Halal, F.
    Zaremba, M.B.
    Powiązania:
    https://bibliotekanauki.pl/articles/407293.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    path planning
    environment monitoring
    ant colony optimization
    data acquisition
    navigation control
    satellite imagery
    constraint-based optimization
    Opis:
    The probabilistic Ant Colony Optimization (ACO) approach is presented to solve the problem of designing an optimal trajectory for a mobile data acquisition platform. An ACO algorithm optimizes an objective function defined in terms of the value of the acquired data samples subject to different sets of constraints depending on the current data acquisition strategy. The analysis presented in this paper focuses on an environment monitoring system, which acquires in-situ data for precise calibration of a water quality monitoring system. The value of the sample is determined based on the concentration of the water pollutant, which in turn is obtained through processing of multi-spectral satellite imagery. Since our problem is defined in a continuous space of coordinates, and in some strategies each point is able to connect to any other point in the space, we adopted a hybrid model that involves a connection graph and also a spatial grid.
    Źródło:
    Management and Production Engineering Review; 2014, 5, 2; 3-11
    2080-8208
    2082-1344
    Pojawia się w:
    Management and Production Engineering Review
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Obstacle avoidance method of autonomous vehicle based on fusion improved A*APF algorithm
    Autorzy:
    Qian, Yubin
    Sun, Hongtao
    Feng, Song
    Powiązania:
    https://bibliotekanauki.pl/articles/2204535.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    obstacle avoidance
    path planning
    fuzzy control
    tracking control
    unikanie przeszkód
    planowanie ścieżki
    kontroler rozmyty
    kontroler śledzenia
    Opis:
    This paper proposes an autonomous obstacle avoidance method combining improved A-star (A*) and improved artificial potential field (APF) to solve the planning and tracking problems of autonomous vehicles in a road environment. The A*APF algorithm to perform path planning tasks, and based on the longitudinal braking distance model, a dynamically changing obstacle influence range is designed. When there is no obstacle affecting the controlled vehicle, the improved A* algorithm with angle constraint combined with steering cost can quickly generate the optimal route and reduce turning points. If the controlled vehicle enters the influence domain of obstacle, the improved artificial potential field algorithm will generate lane changing paths and optimize the local optimal locations based on simulated annealing. Pondering the influence of surrounding participants, the four-mode obstacle avoidance process is established, and the corresponding safe distance condition is analyzed. A particular index is introduced to comprehensively evaluate speed, risk warning, and safe distance factors, so the proposed method is designed based on the fuzzy control theory. In the tracking task, a model predictive controller in the light of the kinematics model is devised to make the longitudinal and lateral process of lane changing meet comfort requirements, generating a feasible autonomous lane-change path. Finally, the simulation was performed in the Matlab/Simulink and Carsim combined environment. The proposed fusion path generation algorithm can overcome the shortcomings of the traditional single method and better adapt to the dynamic environment. The feasibility of the obstacle avoidance algorithm is verified in the three-lane simulation scenario to meet safety and comfort requirements.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 2; art. no. e144624
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Global path planning for multiple AUVs using GWO
    Autorzy:
    Panda, Madhusmita
    Das, Bikramaditya
    Pati, Bibhuti
    Powiązania:
    https://bibliotekanauki.pl/articles/229749.pdf
    Data publikacji:
    2020
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    Autonomous Underwater Vehicle
    AUV
    Genetic Algorithm
    GA
    Global Path Planning
    GPP
    Grey Wolf Optimization
    GWO
    Sliding Mode Control
    SMC
    waypoints
    Opis:
    In global path planning (GPP), an autonomous underwater vehicle (AUV) tracks a predefined path. The main objective of GPP is to generate a collision free sub-optimal path with minimum path cost. The path is defined as a set of segments, passing through selected nodes known as waypoints. For smooth planar motion, the path cost is a function of the path length, the threat cost and the cost of diving. Path length is the total distance travelled from start to end point, threat cost is the penalty of collision with the obstacle and cost of diving is the energy expanse for diving deeper in ocean. This paper addresses the GPP problem for multiple AUVs in formation. Here, Grey Wolf Optimization (GWO) algorithm is used to find the suboptimal path for multiple AUVs in formation. The results obtained are compared to the results of applying Genetic Algorithm (GA) to the same problem. GA concept is simple to understand, easy to implement and supports multi-objective optimization. It is robust to local minima and have wide applications in various fields of science, engineering and commerce. Hence, GA is used for this comparative study. The performance analysis is based on computational time, length of the path generated and the total path cost. The resultant path obtained using GWO is found to be better than GA in terms of path cost and processing time. Thus, GWO is used as the GPP algorithm for three AUVs in formation. The formation follows leader-follower topography. A sliding mode controller (SMC) is developed to minimize the tracking error based on local information while maintaining formation, as mild communication exists. The stability of the sliding surface is verified by Lyapunov stability analysis. With proper path planning, the path cost can be minimized as AUVs can reach their target in less time with less energy expanses. Thus, lower path cost leads to less expensive underwater missions.
    Źródło:
    Archives of Control Sciences; 2020, 30, 1; 77-100
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Collision-Free Trajectory Planning for Mobile Manipulators Subject to Control Constraints
    Planowanie bezkolizyjnej trajektorii manipulatorów mobilnych przy ograniczeniach na sterowania
    Autorzy:
    Pajak, G.
    Pajak, I.
    Powiązania:
    https://bibliotekanauki.pl/articles/139950.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    mobile manipulator
    path following
    trajectory planning
    penalty function
    control constraints
    manipulator mobilny
    planowanie trajektorii
    funkcja kary
    Opis:
    A method of planning collision-free trajectory for a mobile manipulator tracking a line section path is presented. The reference trajectory of a mobile platform is not needed, mechanical and control constraints are taken into account. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. The problem is shown to be equivalent to some point-to-point control problem whose solution may be easier determined. The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities. A computer example involving a mobile manipulator consisting of a nonholonomic platform (2,0) class and a 3 DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.
    W pracy opisano tok postępowania podczas budowy modeli symulacyjnych z wykorzystaniem programu SolidWorks i Matlab/Simulink. Tworzenie modelu symulacyjnego przebiega etapami, to znaczy najpierw opracowywany jest model geometryczny w programie SolidWorks, następnie dzięki możliwości wymiany danych, model CAD jest implementowany w środowisku obliczeniowym Matlab/Simulink. Modele SimMechanics pozwalają na śledzenie wielu parametrów, np. trajektorii, prędkości, czy przyspieszeń dowolnych elementów układu złożonego. W pracy, jako przykłady modeli symulacyjnych opracowanych zgodnie z zaprezentowana metoda, pokazano modele laboratoryjnego żurawia samochodowego oraz żurawia leśnego. Modele te umożliwiają wizualizacje zadanego - za pomocą wymuszeń kinematycznych - cyklu pracy.
    Źródło:
    Archive of Mechanical Engineering; 2014, LXI, 1; 35-55
    0004-0738
    Pojawia się w:
    Archive of Mechanical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-8 z 8

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