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In Bike-Sharing System (BSS), great efforts have been devoted to performing resources prediction, redistribution and trip planning to alleviate the unbalance of resources and inconvenience of bike utilization caused by the explosion of users. However, there is few work in trip planning noticing that the complete trip composes of three segments: from user's start point to a start station, from the...
Selecting the most interesting tourist attractions and planning optimal sightseeing tours can be a difficult task for individuals visiting unfamiliar tourist destinations. On the other hand, the massive amounts of tourists in big cities can collapse certain areas causing transport inefficiency, unbalanced economic growth and nuisance among tourists and citizens. Therefore, the tourist trip planning...
The trajectory optimization with dynamic headway for high-speed trains plays an important role in railway operations with the increasing passenger flow. Safety, punctuality, energy saving and comfort are some of the most crucial objectives that are considered in train tracking process in this paper. Primarily, the multi-objective optimization model of tracking train trajectory planning is built under...
Path planning of an autonomous vehicle as a non-holonomic system is an essential part for many automated driving applications. Parking a car into a parking lot and maneuvering it through a narrow corridor would be a common driving scenarios in an urban environment. In this study a hybrid approach for dynamic path planning is presented which deals with the limited degrees of freedom of a non-holonomic...
RFID technology is increasingly incorporated in many facets of life and accordingly represents an active research area. RFID network planning is a hard optimization problem that determines positions of readers and transmitter power parameters in order to satisfy requirements about coverage, interference, power consumption, total cost, etc. For such hard optimization problems, where deterministic mathematical...
In this paper we develop a new efficient heuristic method for facility layout problems. This heuristic method contains two phases. In the first phase, a clustering method based on the SOFM1 is used for clustering of data in similar groups and in the second phase, an exact solution approach is applied for designing of a layout in each cluster. As an alternative solution, the ALDEP2 algorithm is used...
Reversing with a dolly steered trailer configuration is a hard task for any driver without extensive training. In this work we present a motion planning and control framework that can be used to automatically plan and execute complicated manoeuvres. The unstable dynamics of the reversing general 2-trailer configuration with off-axle hitching is first stabilised by an LQ-controller and then a pure...
In this study, a capacitated lot sizing problem (CLSP) which suffers uncertainty by the equipment degradation is investigated. Condition-based maintenance (CBM) is considered with aperiodic inspection at the beginning of every batch. And a prognosis threshold is taken to decide the maintenance action. A predictive planning model is proposed to make the production and maintenance plan considering the...
Multiyear Transmission Expansion Planning (TEP) aims to determine how and when a transmission network capacity should be expanded taking into account an extended horizon. This is an optimization problem very difficult to solve and that has unique characteristics that increase its complexity such as its non-convex search space and its integer and nonlinear nature. This paper describes a hybrid tool...
This paper proposes a route recommendation system for sightseeing based on a network optimization problem. Traveling and sightseeing times are randomly changed dependent on current traffic and congestion conditions, and hence, Time-Expanded Network (TEN) to contain a copy to the set of nodes in the underlying static network for each discrete time step is introduced. In addition, in order to select...
Flexible serpentine manipulators are widely used in surgical robots as it can be operated inside the patient's body cavity by backbone bending. However, during the bending the manipulator sweeps over a region, where sensitive organs may locate. This raises the safety concern. In this paper, a motion planning algorithm focusing on minimize the sweeping area for flexible serpentine manipulators is presented...
This paper introduces a new planning algorithm to minimize the damage of humanoid falls by utilizing multiple contact points. Given an unstable initial state of the robot, our approach plans for the optimal sequence of contact points such that the initial momentum is dissipated with minimal impacts on the robot. Instead of switching among a collection of individual control strategies, we propose a...
In this paper we derive and implement an algorithm for an indoor mobile robotics platform to estimate the manipulability of initially unknown obstacles while navigating through its environment to a pre-specified goal. The environment is represented by an evidence grid, where each cell contains a gamma-distributed cost as well as visual feature data in the form of a color histogram. While navigating,...
This paper deals with motion planning problems for spherical rolling robots driven by a two degree of freedom pendulum. A full dynamic model for this system is first introduced. Then, assuming that the contact path is specified and the sphere moves in pure rolling mode, the full dynamic model is reduced by imposing virtual constraints. A timing control law, based on the Beta function, for tracing...
This paper deals with the swath acquisition planning problem for multisatellite Earth observation missions. Given a set of satellites and a mission time frame, the problem we solve consists of selecting a set of acquisitions from the satellites in order to cover a given region of interest during the requested time frame, optimizing a certain objective function.We show that the planning problem can...
Mobile robots are often utilized in remote and hostile outdoor environments with uncertainties and unknown dangerous. The energy-efficient paths generated based on prior information can be impracticable due to the changes in the environment. Recently proposed Z∗ search algorithm is capable of finding physically feasible energy-efficient paths on uneven terrains. It can achieve the same accuracy as...
This paper describes a hybrid tool to perform Static Transmission Expansion Planning, STEP, studies and its application to the Garver6-Bus academic system and to the Southern Brazilian Transmission equivalent real system. The developed STEP tool integrates two phases as follows. The first one uses Constructive Heuristic Algorithms (CHA) to reduce the search space, and the second uses Particle Swarm...
This paper presents, the impact of the pumped-storage (PS) unit on the static transmission network expansion planning problem (STNEP). The aim of this work is to minimize the total cost which is a summation of the transmission line cost, the fuel cost and the load curtailment cost. The load curtailment cost is included in the objective function to avoid the additional artificial generation. The proposed...
The Multi-UAV cooperative reconnaissance mission planning is one of the task allocation and resource scheduling problems during the multi-UAV cooperative control. The key to solve this problem is to build a reasonable solving-model and find an effective solving-algorithm. Based on the analysis of characteristics about reconnaissance missions, this paper takes plenty of constraints and performance...
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