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Task Allocation of Intelligent Warehouse Picking System based on Multi-robot Coalition
( Fei Xue ),( Hengliang Tang ),( Qinghua Su ),( Tao Li ) 한국인터넷정보학회 2019 KSII Transactions on Internet and Information Syst Vol.13 No.7
In intelligent warehouse picking system, the allocation of tasks has an important influence on the efficiency of the whole system because of the large number of robots and orders. The paper proposes a method to solve the task allocation problem that multi-robot task allocation problem is transformed into transportation problem to find a collision-free task allocation scheme and then improve the capability of task processing. The task time window and the power consumption of multi-robot (driving distance) are regarded as the utility function and the maximized utility function is the objective function. Then an integer programming formulation is constructed considering the number of task assignment on an agent according to their battery consumption restriction. The problem of task allocation is solved by table working method. Finally, simulation modeling of the methods based on table working method is carried out. Results show that the method has good performance and can improve the efficiency of the task execution.
Optimizing location of particle damper using principles of gas-solid flow
Xiaofei Lei,Chengjun Wu,Peng Chen,Hengliang Wu,Jianyong Wang 대한기계학회 2019 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.33 No.6
Particle damping is a passive control technology with strong nonlinearity whose damping effect is relative to the vibration intensity where a particle damper is installed. Then, seeking the optimal installing location of the particle damper to improve the damping effect and vibration control performance is an important research project. To this problem, bound optimization by quadratic approximation (BOBYQA) was employed to discuss the optimal location of a particle damper at the both fixed end plate. For theoretically evaluating the damping effect and invoking it into BOBYQA, the principle of gas-solid flow was used to study the damping effect and establish the theoretical model of particle damping. Further, the estimation precision of the mathematical model was verified by experiment; the results indicate that the proposed mathematical model can more accurately predict the dynamic response of a particle damper installed at both fixed end plate. Therefore, a mathematical model was employed to discuss the optimal position of the particle damper for minimizing maximum amplitude (MMA). The results indicate that particle damper should be installed at the model top close to the monitoring point; if there are two resonances whose amplitudes are equivalent or approximate, the particle damper should be installed at the junction of these model tops.
Proteomic Analysis of Shigella Virulence Effectors Secreted under Different Conditions
( Xingming Liu ),( Lilan Lu ),( Xinrui Liu ),( Xiankai Liu ),( Chao Pan ),( Erling Feng ),( Dongshu Wang ),( Chang Niu ),( Li Zhu ),( Hengliang Wang ) 한국미생물 · 생명공학회 2017 Journal of microbiology and biotechnology Vol.27 No.1
A series of novel effector molecules secreted by the type three secretion system (T3SS) of Shigella spp. have been reported in recent years. In this study, a proteomic approach was applied to study T3SS effectors systematically. First, proteins secreted by the S. flexneri wildtype strain after Congo Red induction were separated and identified using two-dimensional electrophoresis to display the relative abundance of all kinds of early effectors for the first time. Then, a gene deletion mutant of known virulence repressor (OspD1) and a gene overexpressed mutant of two known virulence activators (MxiE and IpgC) were constructed and analyzed to discover potential late effectors. Furthermore, the supernatant proteins of gene deletion mutants of two known translocators (IpaB and IpaD), which would constantly secrete effectors, were also analyzed. Among all of the secreted proteins identified in our study, IpaH1.4, IpaH_5, and IpaH_7 have not been reported before. These proteomics data of the secreted effectors will be valuable to understand the pathogenesis of S. flexneri.