蚁群算法拥有良好的全局性、自组织性、鲁棒性,但传统蚁群算法存在许多不足之处。为此,针对算法在路径规划问题中的缺陷,在传统蚁群算法的状态转移公式中,引入目标点距离因素和引导素,加快算法收敛性和改善局部最优缺陷。在带时间窗的...蚁群算法拥有良好的全局性、自组织性、鲁棒性,但传统蚁群算法存在许多不足之处。为此,针对算法在路径规划问题中的缺陷,在传统蚁群算法的状态转移公式中,引入目标点距离因素和引导素,加快算法收敛性和改善局部最优缺陷。在带时间窗的车辆路径问题(vehicle routing problem with time windows,VRPTW)上,融合蚁群算法和遗传算法,并将顾客时间窗宽度以及机器人等待时间加入蚁群算法状态转移公式中,以及将蚁群算法的解作为遗传算法的初始种群,提高遗传算法的初始解质量,然后进行编码,设置违反时间窗约束和载重量的惩罚函数和适应度函数,在传统遗传算法的交叉、变异操作后加入了破坏-修复基因的操作来优化每一代新解的质量,在Solomon Benchmark算例上进行仿真,对比算法改进前后的最优解,验证算法可行性。最后在餐厅送餐问题中把带有障碍物的仿真环境路径规划问题和VRPTW问题结合,使用改进后的算法解决餐厅环境下送餐机器人对顾客服务配送问题。展开更多
We present a homebuilt scanning tunneling microscope(STM)which employs an inner-wall polished sapphire guiding tube as a rail for the scanner to form a short tip-sample mechanical loop.The scanner is mounted on a squa...We present a homebuilt scanning tunneling microscope(STM)which employs an inner-wall polished sapphire guiding tube as a rail for the scanner to form a short tip-sample mechanical loop.The scanner is mounted on a square rod which is housed in the guiding tube and held by a spring strip.The stiff sapphire guiding tube allows the STM body to be made in a simple,compact and rigid form.Also the material of sapphire improves the thermal stability of the STM for its good thermal conductivity.To demonstrate the performance of the STM,high quality atomic-resolution STM images of high oriented pyrolytic graphite were given.展开更多
文摘蚁群算法拥有良好的全局性、自组织性、鲁棒性,但传统蚁群算法存在许多不足之处。为此,针对算法在路径规划问题中的缺陷,在传统蚁群算法的状态转移公式中,引入目标点距离因素和引导素,加快算法收敛性和改善局部最优缺陷。在带时间窗的车辆路径问题(vehicle routing problem with time windows,VRPTW)上,融合蚁群算法和遗传算法,并将顾客时间窗宽度以及机器人等待时间加入蚁群算法状态转移公式中,以及将蚁群算法的解作为遗传算法的初始种群,提高遗传算法的初始解质量,然后进行编码,设置违反时间窗约束和载重量的惩罚函数和适应度函数,在传统遗传算法的交叉、变异操作后加入了破坏-修复基因的操作来优化每一代新解的质量,在Solomon Benchmark算例上进行仿真,对比算法改进前后的最优解,验证算法可行性。最后在餐厅送餐问题中把带有障碍物的仿真环境路径规划问题和VRPTW问题结合,使用改进后的算法解决餐厅环境下送餐机器人对顾客服务配送问题。
基金supported by the National Key RD Program of China (No.2017YFA0402903 and No.2016YFA0401003)National Natural Science Foundation of China (No.21505139, No.51627901,and No.11374278)+1 种基金Chinese Academy of Sciences Scientific Research Equipment (No.YZ201628)National Science Foundation for Young Scientists of China (No.11504339)
文摘We present a homebuilt scanning tunneling microscope(STM)which employs an inner-wall polished sapphire guiding tube as a rail for the scanner to form a short tip-sample mechanical loop.The scanner is mounted on a square rod which is housed in the guiding tube and held by a spring strip.The stiff sapphire guiding tube allows the STM body to be made in a simple,compact and rigid form.Also the material of sapphire improves the thermal stability of the STM for its good thermal conductivity.To demonstrate the performance of the STM,high quality atomic-resolution STM images of high oriented pyrolytic graphite were given.
