Download - PFC Alvaro Bravo Sancho
-
8/17/2019 PFC Alvaro Bravo Sancho
1/109
-
8/17/2019 PFC Alvaro Bravo Sancho
2/109
-
8/17/2019 PFC Alvaro Bravo Sancho
3/109
-
8/17/2019 PFC Alvaro Bravo Sancho
4/109
-
8/17/2019 PFC Alvaro Bravo Sancho
5/109
-
8/17/2019 PFC Alvaro Bravo Sancho
6/109
-
8/17/2019 PFC Alvaro Bravo Sancho
7/109
-
8/17/2019 PFC Alvaro Bravo Sancho
8/109
-
8/17/2019 PFC Alvaro Bravo Sancho
9/109
-
8/17/2019 PFC Alvaro Bravo Sancho
10/109
-
8/17/2019 PFC Alvaro Bravo Sancho
11/109
-
8/17/2019 PFC Alvaro Bravo Sancho
12/109
-
8/17/2019 PFC Alvaro Bravo Sancho
13/109
-
8/17/2019 PFC Alvaro Bravo Sancho
14/109
-
8/17/2019 PFC Alvaro Bravo Sancho
15/109
-
8/17/2019 PFC Alvaro Bravo Sancho
16/109
-
8/17/2019 PFC Alvaro Bravo Sancho
17/109
α
α
β
β
-
8/17/2019 PFC Alvaro Bravo Sancho
18/109
-
8/17/2019 PFC Alvaro Bravo Sancho
19/109
-
8/17/2019 PFC Alvaro Bravo Sancho
20/109
α
α
α
α
β
β
β
β
-
8/17/2019 PFC Alvaro Bravo Sancho
21/109
-
8/17/2019 PFC Alvaro Bravo Sancho
22/109
-
8/17/2019 PFC Alvaro Bravo Sancho
23/109
Capı́tulo1
-
8/17/2019 PFC Alvaro Bravo Sancho
24/109
-
8/17/2019 PFC Alvaro Bravo Sancho
25/109
•
•
•
•
•
-
8/17/2019 PFC Alvaro Bravo Sancho
26/109
-
8/17/2019 PFC Alvaro Bravo Sancho
27/109
Capı́tulo2
-
8/17/2019 PFC Alvaro Bravo Sancho
28/109
q = [q 1, q 2, . . . , q i] q i ∈ R i = 1, . . . , D
=
R3x3 p3x1
f 1x3 w1x1
=
R3x3 p3x1
f 1x3
w1x1
R3x3 p3x1
=
R3x3 p3x1
0 1
=
θ j
d j
a j
α j
j = 1, . . . , D
-
8/17/2019 PFC Alvaro Bravo Sancho
29/109
θ j x j−1 x j z j−1
d j
z j−1 x j z j−1
a j z j−1 x j
x j z j−1 z j
α j z j−1 z j x j
A j−1
j
=
cos θ j − cos α j sin θ j sin α j sin θ j a j cos θ j
sin θ j cos αi cos θ j − sin α j cos θ j a j sin θ j
0 sin α j cos α j d j
0 0 0 1
T 0n
f k(q ) = T 0n =
n
j=1
A j−1 j = A01A
12 . . . A
j−1 j . . . A
n−1n
-
8/17/2019 PFC Alvaro Bravo Sancho
30/109
a j d j α j θ j
q
q = f −1k ( p, ϕ)
ϕ
q
-
8/17/2019 PFC Alvaro Bravo Sancho
31/109
q
-
8/17/2019 PFC Alvaro Bravo Sancho
32/109
-
8/17/2019 PFC Alvaro Bravo Sancho
33/109
-
8/17/2019 PFC Alvaro Bravo Sancho
34/109
{ q 1, . . . , q i, . . . , q NP } q i = (q 1,i, . . . , q j,i, . . . , q N,i)
i = 1, . . . , N P
( pi, ϕi) = f k( q i), ( pi, ϕi) ∈ C
pi ϕi f k
q j,i q i q
−
j ≤ q j,i ≤ q + j
q − j q
+ j j = 1, . . . , N
( pd, ϕd)
q i
E p =| pd − pi | E o =| ϕd − ϕi |
( pi, ϕi)
-
8/17/2019 PFC Alvaro Bravo Sancho
35/109
f (q ) = w pE p + woE o
w p wo
q
q − j ≤ q j ≤ q + j
-
8/17/2019 PFC Alvaro Bravo Sancho
36/109
-
8/17/2019 PFC Alvaro Bravo Sancho
37/109
Capı́tulo3
-
8/17/2019 PFC Alvaro Bravo Sancho
38/109
f (x),
x ∈ C
x
x
-
8/17/2019 PFC Alvaro Bravo Sancho
39/109
(x, g)
P (x, g) = (x1,g, . . . , xi,g, . . . , xNP,g)
xi,g
xi,g = (x1,i, . . . , x j,i, . . . , xD,i)
(x, 0) = (x1,0, . . . , xi,0, . . . , xNP,0)
xi,0 = {x j,i} = x−
j + rand j(0, 1)(x+ j − x
−
j ), = 1, . . . ,
rand j(0, 1)
[0, 1]
x j,i xi,0
xr1 xr2 xr3 r1 r2 r3
vi,g
vi,g = xr1,g +
(xr2,g − xr3,g)
-
8/17/2019 PFC Alvaro Bravo Sancho
40/109
[0, 1+]
xr2,g − xr3,g
xr1
ui,g
(u, g)
ui,g
vi,g xi,g
ui,g = u j,i =
v j,i, rand j(0, 1) ≤ CR = jrand
x j,i,
∈ [0, 1]
rand j(0, 1) u j,i
vi,g xi,g
= jrand ui,g
vi,g
xi,g
vi,g
rand j(0, 1)
xi,g
-
8/17/2019 PFC Alvaro Bravo Sancho
41/109
ui,g = u j,i =
v j,i, rand j(0, 1) ≤ C R
x j,i,
rand j(0, 1) > CR
(x, g)
(u, g)
xi,g ui,g
xi,g+1 = x j,i = u
i,g,
f (ui,g) ≤ f (xi,g)
xi,g,
(x, g + 1)
-
8/17/2019 PFC Alvaro Bravo Sancho
42/109
D, gmax, N P , F ∈ (0, 1+), CR ∈ [1, 0], x
+ j yx
−
j
i ≤ N P ∧ j ≤ D
x j,i = x−
j + rand j(0, 1)(x+ j − x
−
j )
g ≤ gmax
i ≤ N P
r1, r2, r3 = round(rand(1, N P ))
jrand = round(rand(1, D))
j ≤ D
rand(0, 1) ≤ C R ∨ j = jrand
u j,i = x j,r1 + (x j,r2 − x j,r3)
u j,i = x j,i
f (ui,g) ≤ f (xi,g)
xi,g+1 = ui,g
xi,g+1 = xi,g
g = g + 1
-
8/17/2019 PFC Alvaro Bravo Sancho
43/109
≤
≤
≤
≤
F crit
F crit =
1 − C R2
N P
∈ [0, 1]
(u, g)
-
8/17/2019 PFC Alvaro Bravo Sancho
44/109
≤
≤
≤ ≤
•
x(r1,g)
x(best,g)
•
•
• vi,g = xr1,g + (xr2,g − xr3,g)
• vi,g = xbest,g + (xr2,g − xr3,g)
• vi,g = xbest,g + (xr2,g + xr3,g − xr4,g − xr5,g)
• vi,g = xr1,g + (xr2,g + xr3,g − xr4,g − xr5,g)
• vi,g = xi,g + (xbest,g − xi,g) + (xr2,g − xr3,g)
-
8/17/2019 PFC Alvaro Bravo Sancho
45/109
(x, g)
P = (x1, . . . , xi, . . . , xNP ) f (xi) ≤ f (xi+1)
W ⊂
δ
W = (x1, . . . , xi, . . . , xδ),
-
8/17/2019 PFC Alvaro Bravo Sancho
46/109
S ⊂ P
β
S = (x1, . . . , xi, . . . , xβ),
β δ δ =
N P ∗ DRATE
100
δ
Q
S
α
α = σ(λ)
Q = (x1, . . . , xi, . . . , xδ), xi = xs + α
λ
s
[1, β ]
W
Q
δ
-
8/17/2019 PFC Alvaro Bravo Sancho
47/109
DRATE,α = σ(λ), β
P = {x1, . . . , xi, . . . , xN P }
f (xi) ≤ f (xi+1)
i ∈ [N P − δ + 1, N P ]
s = rand[1, β ]
Q = xs + α
f ( Q) < f ( W )
xi = Q
-
8/17/2019 PFC Alvaro Bravo Sancho
48/109
-
8/17/2019 PFC Alvaro Bravo Sancho
49/109
Capı́tulo4
-
8/17/2019 PFC Alvaro Bravo Sancho
50/109
ϕ
a j α j d j θ j
a1 θ1
a2 θ2
a3 θ3
-
8/17/2019 PFC Alvaro Bravo Sancho
51/109
a1 a2 a3
x = a1cos(θ1) + a2cos(θ1 + θ2) + a3cos(θ1 + θ2 + θ3)
y = a1sin(θ1) + a2sin(θ1 + θ2) + a3sin(θ1 + θ2 + θ3)
ϕ = θ1 + θ2 + θ3
φ,θ,ψ
-
8/17/2019 PFC Alvaro Bravo Sancho
52/109
a j α j d j θ j
θ1
a2 θ2
a3 d3 θ3
d4
θ4
θ5
θ6
a2 a3 d3 d4
T ( j−1)
j
-
8/17/2019 PFC Alvaro Bravo Sancho
53/109
-
8/17/2019 PFC Alvaro Bravo Sancho
54/109
w p wo
1
Σai
1
2π
λKC P d
2π
-
8/17/2019 PFC Alvaro Bravo Sancho
55/109
Σai λKC
P d
ϕ
ϕ
φ
θ
ψ
φ,θyψ
%
-
8/17/2019 PFC Alvaro Bravo Sancho
56/109
M e ± ST De
M i ± ST Di
-
8/17/2019 PFC Alvaro Bravo Sancho
57/109
%
±
E P ± ± ± ±
E O ± ± ± ±
E T ± ± ± ±
±
± ± ± ±
± ± ± ±
± ± ± ±
-
8/17/2019 PFC Alvaro Bravo Sancho
58/109
-
8/17/2019 PFC Alvaro Bravo Sancho
59/109
%
±
E P ± ± ± ±
E O ± ± ± ±
E T ± ± ± ±
±
±
±
±
±
±
±
±
±
±
±
±
±
-
8/17/2019 PFC Alvaro Bravo Sancho
60/109
-
8/17/2019 PFC Alvaro Bravo Sancho
61/109
%
±
E P ± ± ± ±
E O ± ± ± ±
E T ± ± ± ±
±
-
8/17/2019 PFC Alvaro Bravo Sancho
62/109
±
±
±
±
±
±
±
±
±
±
±
±
-
8/17/2019 PFC Alvaro Bravo Sancho
63/109
%
±
-
8/17/2019 PFC Alvaro Bravo Sancho
64/109
E P ± ± ± ±
E O ± ± ± ±
E T ± ± ± ±
±
±
±
±
±
±
±
±
±
±
±
±
±
-
8/17/2019 PFC Alvaro Bravo Sancho
65/109
∈ [0, 1]
-
8/17/2019 PFC Alvaro Bravo Sancho
66/109
(u, g)
≤ ≤
≤ ≤
%
±
E P ± ± ± ±
E O ± ± ± ±
E T ± ± ± ±
±
-
8/17/2019 PFC Alvaro Bravo Sancho
67/109
±
±
±
±
±
±
±
±
±
±
±
±
-
8/17/2019 PFC Alvaro Bravo Sancho
68/109
%
±
-
8/17/2019 PFC Alvaro Bravo Sancho
69/109
E P ± ± ± ±
E O ± ± ± ±
E T ± ± ± ±
±
±
±
±
±
±
±
±
±
±
±
±
±