Juanling Liang¹, Wenguang Luo^1,2,*, Yongxin Qin¹

CMC-Computers, Materials & Continua, Vol.81, No.1, pp. 1009-1027, 2024, DOI:10.32604/cmc.2024.055883 - 15 October 2024

Abstract An improved RRT* algorithm, referred to as the AGP-RRT* algorithm, is proposed to address the problems of poor directionality, long generated paths, and slow convergence speed in multi-axis robotic arm path planning. First, an adaptive biased probabilistic sampling strategy is adopted to dynamically adjust the target deviation threshold and optimize the selection of random sampling points and the direction of generating new nodes in order to reduce the search space and improve the search efficiency. Second, a gravitationally adjustable step size strategy is used to guide the search process and dynamically adjust the step-size to… More >

Jinlin Xu^1,2, Wansu Pan^1,*, Longle Cheng^1,2, Haibo Tan^1,2, Munan Yuan^1,*, Xiaofeng Li^1,2

CMC-Computers, Materials & Continua, Vol.79, No.1, pp. 1399-1418, 2024, DOI:10.32604/cmc.2024.049622 - 25 April 2024

Abstract The existing multipath routing in Software Defined Network (SDN) is relatively blind and inefficient, and there is a lack of cooperation between the terminal and network sides, making it difficult to achieve dynamic adaptation of service requirements and network resources. To address these issues, we propose a multi-constraint path optimization scheme based on information fusion in SDN. The proposed scheme collects network topology and network state information on the network side and computes disjoint paths between end hosts. It uses the Fuzzy Analytic Hierarchy Process (FAHP) to calculate the weight coefficients of multiple constrained parameters… More >

Jianjun Yao^*, Chen Qian, Yikun Zhang, Geyang Yu

CMES-Computer Modeling in Engineering & Sciences, Vol.134, No.2, pp. 1283-1303, 2023, DOI:10.32604/cmes.2022.021328 - 31 August 2022

Abstract The 6-DOF manipulator provides a new option for traditional shipbuilding for its advantages of vast working space, low power consumption, and excellent flexibility. However, the rotation of the end effector along the tool axis is functionally redundant when using a robotic arm for five-axis machining. In the process of ship construction, the performance of the parts’ protective coating needs to be machined to meet the Performance Standard of Protective Coatings (PSPC). The arbitrary redundancy configuration in path planning will result in drastic fluctuations in the robot joint angle, greatly reducing machining quality and efficiency. There… More >

Chao Mei^1,2, Qifu Wang^1,*, Chen Yu¹, Zhaohui Xia¹

CMES-Computer Modeling in Engineering & Sciences, Vol.129, No.2, pp. 627-659, 2021, DOI:10.32604/cmes.2021.017704 - 08 October 2021

Abstract This paper presents an effective fiber angle optimization method for two and multi-layered variable stiffness composites. A gradient-based fiber angle optimization method is developed based on isogeometric analysis (IGA). Firstly, the element densities and fiber angles for two and multi-layered composites are synchronously optimized using an extended Bi-layered continuous fiber angle optimization method (XBi-CFAO). The densities and fiber angles in the base layer are attached to the control points. The structure response and sensitivity analysis are accomplished using the non-uniform rational B-spline (NURBS) based IGA. By the benefit of the B-spline space, this method is More >