http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Real-time Velocity Optimization of a Group of Autonomous Members via Ant Colony Optimization (ACO)
Ramin Vatankhah,Shahram Etemadi,Aria Alasty,Mehrdad Boroushaki,Gholamreza Vossoughi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, the agent velocity in robotic swarm was determined by using Ant Colony optimization (ACO) algorithm to maximize the swarm center velocity. First briefly we present an analytical study of swarm motion in a quasi static environment, in which, motion of each member is being affected by interactive forces and an agent. Interactive effects on each member could be attractive or repulsive due to being far from or close to other members respectively. It is also considered that field of view of all members is limited, i.e. even the agent accesses its local information. Ant colony algorithm is a mathematical model of ants" behaviour in finding the shortest path between nest and food. The agent velocity in robotic swarm was determined by using ACO to maximize the swarm center velocity. The results show the high ability of this evolutionary algorithm in solving complicated dynamic optimization problems.
Ramin Vatankhah,Ali Najafi,Hassan Salarieh,Aria Alasty 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.2
In non-classical micro-beams, the strain energy of the system is obtained based on the non-classical continuum mechanics. This paperpresents the problem of boundary control of a vibrating non-classical micro-cantilever Timoshenko beam to achieve the asymptotic decayrate of the closed loop system. For this aim, we need to establish the well- posedness of the governing partial differential equations(PDEs) of motion in presence of boundary feedbacks. A linear control law is constructed to suppress the system vibration. The controlforces and moments consist of feedbacks of the velocities and spatial derivatives of them at tip of the micro-beam. To verify the effectivenessof the proposed boundary controllers, numerical simulations of the open loop and closed loop PDE models of the system areworked out using finite element method (FEM). New Timoshenko beam element stiffness and mass matrices are derived based on thestrain gradient theory and verification of this new beam element is accomplished.