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Planning method used in visual programming for sequence-control program design with sequential function chart

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 1997年第3期44卷 279-288页

作者： Namioka, Y Tanaka, T Mizutani, H Matsudaira, T Systems and Software Research Laboratories Research and Development Center Systems and Software Research Laboratories Toshiba Corporation Kawasaki Japan Fuchu Works Toshiba Corporation Tokyo Japan

The planning method adopted in the visual programming system for sequence-control program specification design (VIPS/S-SFCD) is described, VIPS/S-SFCD is based on two unique features: 1) an example-based programming technique in which designers specify the initial states and goal conditions of equipment blocks using visual representations and 2) a planning method that infers machine actions and generates control program specifications, The planning method is based on a state-space model and uses scope to make the searches more efficient, To investigate the effectiveness of the method, VIPS/S-SFCD was used to experimentally generate control program specifications for an existing steel plant, The results showed that the quality of the control program specifications generated by the planner was equal to that achieved by a design specialist, and the time required for designing control programs was much shorter, Using VIPS/S-SFCD, errors in writing specifications are reduced because designers can easily understand the initial and goal state of an equipment block and the sequence of state transitions, The reliability of the specifications is improved because VIPS/S-SFCD generates valid segments of the specifications, The design time is also reduced because designers can use high-level instructions that closely reflect their thought processes.

关键词： dijkstra algorithm planning scope sequence-control program state-space model visual programming

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Approach to Integrated Scheduling Problems Considering Optimal Number of Automated Guided Vehicles and Conflict-Free Routing in Flexible Manufacturing Systems

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IEEE ACCESS 2019年 7卷 74909-74924页

作者： Lyu, Xiangfei Song, Yuchuan He, Changzheng Lei, Qi Guo, Weifei Chongqing Univ State Key Lab Mech Transmiss Chongqing Peoples R China

Usually, machine and automated guided vehicle (AGV) scheduling are studied simultaneously. However, previous studies often used a fixed number of AGVs or did not consider routing problems and transportation time. This paper focuses on the machine and AGV scheduling problem in a flexible manufacturing system by simultaneously considering the optimal number of AGVs, the shortest transportation time, a path planning problem, and a conflict-free routing problem (CFRP). To study these problems simultaneously, we propose a genetic algorithm combined with the dijkstra algorithm that is based on a time window. The tri-string chromosome coding method is designed to ensure that the solutions are feasible after the genetic operator has been applied. Global, local, and random searches are adopted in reasonable proportions to improve the quality and diversity of the initial population. The dijkstra algorithm based on the time window is embedded into the genetic algorithm to search for the shortest route, detect collisions for multiple vehicles simultaneously, and finally, solve the shortest CFRP. The objective is to minimize the makespan while considering the influence of the number of AGVs. Increasing the number of AGVs has a significant impact on the makespan in the initial stage. However, the makespan tends to stabilize as the number of AGVs reaches some threshold. To balance the relationship between the minimum makespan and the optimal number of AGVs, we set the minimum decrease rate to 5% when determining the minimum makespan and confirming the corresponding number of AGVs to be the optimal value. In this paper, to verify the effectiveness of our approach, we propose two sets of computational experiments. The first set of results shows that the proposed algorithm is as efficient and effective at solving the scheduling problem as the benchmark approaches. The second set of computational experiments indicates that the proposed approach is applicable for solving integrated sch

关键词： Conflict-free routing problem genetic algorithm dijkstra algorithm optimal number of AGVs time window

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A Method to Bypass Dangerous Zones in the Horizontal Plane

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AUTOMATION AND REMOTE CONTROL 2019年第1期80卷 124-137页

作者： Merkulov, V. I. Plyashechnik, A. S. JSC Concern Vega Moscow Russia

We propose a method of bypassing randomly located dangerous zones by an aircraft based on the use of graph theory and an aircraft control algorithm that implements this method. We provide different options for impleme... 详细信息

关键词： dangerous area bypass control system dijkstra algorithm

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A dynamic rescue route planning method based on 3D network in mine water inrush hazard

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GEOMATICS NATURAL HAZARDS & RISK 2019年第1期10卷 2387-2407页

作者： Zhao, Xiangwei Wang, Qingzhong Xie, Bin Pan, Shun Ji, Min Shandong Univ Sci & Technol Key Lab Geomat & Digital Technol Shandong Prov Qingdao Peoples R China Shandong Elect Power Engn Consulting Inst Co Ltd Jinan Peoples R China Shandong Univ Sci & Technol Shandong Prov 3S Engn Res Ctr Qingdao Peoples R China

Water inrush in mine is one of the most common hazards in the mining industry. To solve the problem of rescue route planning during a mine water inrush hazard, a dynamic rescue route planning method based on a 3D network is proposed. First, the basic elements in the 3D network model of the mine roadway are abstractly described, furthermore, the weights of edges, the topological connectivity of the elements, and the data structure of the network are defined. Then, the dijkstra algorithm and the Breadth-first search algorithm are combined to implement the best rescue search route and return route planning based on the 3D network model. Finally, the dynamic rescue route planning is simulated in 3D virtual spatial scenario of a real mine. The factors such as topological connectivity of the elements, real-time water level, and slope of the mine roadways are considered in the process of rescue route planning, as the rescue route is adjusted dynamically according to the actual situations. This method proposed can provide powerful decision support for mine water inrush hazard rescue.

关键词： Mine water inrush hazard dynamic rescue route planning 3D (three-dimensional) spatial network model of mine roadways dijkstra algorithm Breadth-first search algorithm

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Clever generation of rich SPARQL queries from annotated relational schema: application to Semantic Web Service creation for biological databases

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BMC BIOINFORMATICS 2013年第1期14卷 1-15页

作者： Wollbrett, Julien Larmande, Pierre de Lamotte, Frederic Ruiz, Manuel CIRAD UMR AGAP F-34398 Montpellier France IRD UMR DIADE Montpellier France INRA UMR AGAP F-34398 Montpellier France Inst Biol Computat F-34095 Montpellier France

Background: In recent years, a large amount of "-omics" data have been produced. However, these data are stored in many different species-specific databases that are managed by different institutes and laboratories. Biologists often need to find and assemble data from disparate sources to perform certain analyses. Searching for these data and assembling them is a time-consuming task. The Semantic Web helps to facilitate interoperability across databases. A common approach involves the development of wrapper systems that map a relational database schema onto existing domain ontologies. However, few attempts have been made to automate the creation of such wrappers. Results: We developed a framework, named BioSemantic, for the creation of Semantic Web Services that are applicable to relational biological databases. This framework makes use of both Semantic Web and Web Services technologies and can be divided into two main parts: (i) the generation and semi-automatic annotation of an RDF view;and (ii) the automatic generation of SPARQL queries and their integration into Semantic Web Services backbones. We have used our framework to integrate genomic data from different plant databases. Conclusions: BioSemantic is a framework that was designed to speed integration of relational databases. We present how it can be used to speed the development of Semantic Web Services for existing relational biological databases. Currently, it creates and annotates RDF views that enable the automatic generation of SPARQL queries. Web Services are also created and deployed automatically, and the semantic annotations of our Web Services are added automatically using SAWSDL attributes. BioSemantic is downloadable at http://***/?q=content/Biosemantic.

关键词： Database Schema Semantic Annotation SPARQL Query dijkstra algorithm Inheritance Relationship

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A conduction velocity adapted eikonal model for electrophysiology problems with re-excitability evaluation

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MEDICAL IMAGE ANALYSIS 2018年 43卷 186-197页

作者： Corrado, Cesare Zemzemi, Nejib Kings Coll London Div Imaging Sci & Biomed Engn London SE1 7EH England Inria Bordeaux Sud Ouest Carmen Team Ave Vieille Tour F-33000 Talence France IHU LIRYC Ave Haut Leveque F-33600 Pessac France

Computational models of heart electrophysiology achieved a considerable interest in the medical community as they represent.a novel framework for the study of the mechanisms underpinning heart pathologies. The high demand of computational resources and the long computational time required to evaluate the model solution hamper the use of detailed computational models in clinical applications. In this paper, we present a multi-front eikonal algorithm that adapts the conduction velocity (CV) to the activation frequency of the tissue substrate. We then couple the eikonal new algorithm with the Mitchell Schaeffer (MS) ionic model to determine the tissue electrical state. Compared to the standard eikonal model, this model introduces three novelties: first, it evaluates the local value of the transmembrane potential and of the ionic variable solving an ionic model;second, it computes the action potential duration (APD) and the diastolic interval (DI) from the solution of the MS model and uses them to determine if the tissue is locally re-excitable;third, it adapts the CV to the underpinning electrophysiological state through an analytical expression of the CV restitution and the computed local DI. We conduct series of simulations on a 3D tissue slab and on a realistic heart geometry and compare the solutions with those obtained solving the monodomain equation. Our results show that the new model is significantly more accurate than the standard eikonal model. The proposed model enables the numerical simulation of the heart electrophysiology on a clinical time scale and thus constitutes a viable model candidate for computer-guided radio-frequency ablation. (C) 2017 Elsevier B.V. All rights reserved.

关键词： Cardiac electrophysiology Multi-front eikonal model dijkstra algorithm Mitchell And Schaeffer model Clinical time scale Conduction velocity

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Improved Network Reliability Optimization Model with Head Loss for Water Distribution System

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WATER RESOURCES MANAGEMENT 2021年第7期35卷 2101-2114页

作者： Mu, Tianwei Li, Yaqi Li, Ziyi Wang, Luyue Tan, Haoqiang Zheng, Chengzhi Donghua Univ Coll Environm Sci & Engn State Environm Protect Engn Ctr Pollut Treatment Shanghai 201620 Peoples R China Taizhou Univ Sch Civil Engn & Architecture Taizhou 318000 Zhejiang Peoples R China Guangdong Yuegang Water Supply Co Ltd Shenzhen 518021 Guangdong Peoples R China

A novel multiple reservoirs network optimization (MRNO) model is proposed to provide referable diameters of pipes that can be applied in water distribution network (WDS) design. Firstly, the shortest path between reservoirs and junctions is solved by the dijkstra algorithm. Then, pressure losses of all pipes are solved by extended period simulation (EPS) and the minimum pressure loss of each pipe is selected. Thirdly, the diameter of each pipe is updated according to Hazen-Williams (HW) equation and new diameter values are given to pipes. Diameters of pipes are re-calculated in the next iteration until convergence or up to the maximum iteration time. Then, NSGA-II is employed to optimize network reliability, and the initial population at the first generation is the result of MRNO. Objective functions contain unit pipe cost, pressure uniformity function, and leakage uniformity function. For verifying the effectiveness of this model, HDP-SGA, NSGA-II, and SGA are employed as comparisons. Finally, five cases are selected to verify the practicability of this model. The results demonstrate that the network reliability of all WDSs has improved and pipe costs are reduced after MRNO-NSGA-II optimization.

关键词： Multiple reservoirs network optimization (MRNO) dijkstra algorithm Pressure loss Multiple objective optimization Non-dominated sorting genetic algorithm-II (NSGA-II)

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Route and Speed Co-optimization for Improving Energy Consumption of Connected Vehicles

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2024年第4期29卷 2830-2838页

作者： Hua, Lingyun Dourra, Hussein Zhu, Guoming Michigan State Univ Dept Mech Engn E Lansing MI 48098 USA Magna Int Troy MI 48098 USA

Real-time vehicle route and speed co-optimization play a vital role in improving its energy consumption with rapidly shifting traffic and environmental conditions (e.g., traffic jams, temperature, gust wind, etc.). In this article, a novel vehicle eco motion planning (VEMP) method is proposed to optimize the vehicle route and speed simultaneously for minimizing its energy usage with a given origin-destination pair and a travel time limit. The proposed VEMP method is based on the modified dijkstra algorithm and gradient descent speed optimization to find and update the optimal route and corresponding speed profile in real-time based on changing traffic and driving environment information. Cosimulation studies are conducted for the developed VEMP method in MATLAB with the SUMO traffic model using a real-world map. The simulation results show that for the studied driving environment, the speed optimization in the VEMP method is able to reduce the energy usage by 2.27% over the case of only using speed limits on a fixed route, and the VEMP can reduce the total energy consumption by 23.83% over the fastest route created by the dijkstra algorithm. The simulation of a sudden traffic jam demonstrates the ability of real-time updating for the proposed VEMP method to handle sudden traffic situations such as vehicle cut-in.

关键词： Connected vehicles dijkstra algorithm energy economy gradient optimization route-speed optimization

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Research on pull-type multi-AGV system dynamic path optimization based on time window

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2021年第7期235卷 1944-1955页

作者： Shan, Hongying Wang, Chuang Zou, Cungang Qin, Mengyao Jilin Univ Dept Ind Engn 5988 Renmin St Changchun 130022 Peoples R China

This paper is a study of the dynamic path planning problem of the pull-type multiple Automated Guided Vehicle (multi-AGV) complex system. First, based on research status at home and abroad, the conflict types, common planning algorithms, and task scheduling methods of different AGV complex systems are compared and analyzed. After comparing the different algorithms, the dijkstra algorithm was selected as the path planning algorithm. Secondly, a mathematical model is set up for the shortest path of the total driving path, and a general algorithm for multi-AGV collision-free path planning based on a time window is proposed. After a thorough study of the shortcomings of traditional single-car planning and conflict resolution algorithms, a time window improvement algorithm for the planning path and the solution of the path conflict covariance is established. Experiments on VC++ software showed that the improved algorithm reduces the time of path planning and improves the punctual delivery rate of tasks. Finally, the algorithm is applied to material distribution in the OSIS workshop of a C enterprise company. It can be determined that the method is feasible in the actual production and has a certain application value by the improvement of the data before and after the comparison.

关键词： Time window multi-AGV system dynamic path planning dijkstra algorithm

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An Illumination-Invariant Nonparametric Model for Urban Road Detection

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IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 2019年第1期4卷 14-23页

作者： Su, Yingna Gao, Yicheng Zhang, Yigong Alvarez, Jose M. Yang, Jian Kong, Hui Nanjing Univ Sci & Technol Sch Comp Sci & Engn Nanjing 210094 Peoples R China Canberra Res Lab NICTA Canberra ACT 2600 Australia

In this paper, we propose an illumination-invariant nonparametric model for urban road detection based on a monocular camera and a single-line LIDAR sensor. With the monocular camera, we propose a new shadow removal method to obtain an illumination-invariant image representation. Consequently, we can accurately locate the road vanishing point after removing the adverse shadowy effect. With the constraint of the detected vanishing point, we propose a dijkstra-based method to compute a minimum-cost map, where the minimum-cost path from the vanishing point to any other pixel can be found. With the single line LIDAR sensor, we can locate a few potential curb points in the image bottom region, and thus we can obtain several corresponding minimum-cost paths that originate from the vanishing point to the curb points. Thereafter, two most likely road borders can be found from these paths, respectively. Our learning-free method has been tested on over 4000 images of the KITTI-Odometry Dataset [A. Geiger, P. Lenz, and ***, "Are we ready for autonomous driving? The KITTI vision benchmark suite," in Proc. IEEE Conf. Comput. Vision Pattern Recognit., 2012, pp. 3354-3361.] and the Oxford Robotcar Dataset [W. Maddern, G. Pascoe, C. Linegar, and P. Newman, "1 year, 1000 km: The Oxford robotcar dataset," Int. J. Robot. Res., vol. 36, no. 1, pp. 3-15, 2017.]. It works accurately on a variety of road scenes and is competitive compared to state-of-the-art deep learning methods that need extensive training data.

关键词： Road detection vanishing point dijkstra algorithm minimum-cost model single-line LIDAR sensor

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