Hopfield Neural Network Method for Problem of Telescoping Path Optimization of Single-Cylinder Pin-Type Multisection Boom

<figure class="figure-group responsive"><div class="sub-figure" id="a"><object data="https://static.hindawi.com/articles/mpe/volume-2019/6195013/figures/6195013.fig.006a.svgz" name="6195013.fig.006a" type="image/svg+xml"></object><div class="fig-label"><tr class="fig-caption"><td><b>(a) </b><svg height="9.39034pt" id="M231" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 12.4734 9.39034" width="12.4734pt" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M546 430L539 434C529 434 505 438 495 440C473 444 450 448 430 448C352 448 265 412 213 366C145 306 96 203 96 103C96 22 135 -12 160 -12C190 -12 238 14 262 32C310 68 368 120 411 184H413C403 117 396 75 384 21C353 -118 325 -158 291 -184C270 -200 241 -205 208 -205C133 -205 90 -164 74 -110C70 -98 58 -100 49 -107C34 -119 23 -140 23 -155C23 -190 74 -261 166 -261C219 -261 280 -233 314 -208C383 -157 446 -79 470 81C491 223 529 388 546 430ZM456 386C452 357 433 283 420 252C402 216 366 174 325 129C288 88 239 56 212 56C192 56 182 77 182 120C182 165 199 242 226 292C256 348 281 377 311 389C327 395 353 402 375 402C408 402 436 394 456 386Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.072,3.132)"><path d="M523 0V30C483 33 455 48 422 83C390 115 285 234 266 263C309 314 327 333 351 357C388 392 414 404 483 415V444L273 435V405C320 400 321 392 302 364C285 339 256 300 233 277C218 262 201 250 170 243V710C130 697 73 680 22 675V647C85 642 89 637 89 570V107C89 44 83 35 14 30V0H244V30C179 35 170 41 170 107V214C176 216 181 217 186 217C194 217 203 212 216 196C273 129 333 54 384 -1L523 0Z"></path></g></svg> control of HNN+PID strategy</td></tr></div></div><div class="sub-figure" id="b"><object data="https://static.hindawi.com/articles/mpe/volume-2019/6195013/figures/6195013.fig.006b.svgz" name="6195013.fig.006b" type="image/svg+xml"></object><div class="fig-label"><tr class="fig-caption"><td><b>(b) </b><svg height="9.39034pt" id="M232" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 12.4734 9.39034" width="12.4734pt" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M546 430L539 434C529 434 505 438 495 440C473 444 450 448 430 448C352 448 265 412 213 366C145 306 96 203 96 103C96 22 135 -12 160 -12C190 -12 238 14 262 32C310 68 368 120 411 184H413C403 117 396 75 384 21C353 -118 325 -158 291 -184C270 -200 241 -205 208 -205C133 -205 90 -164 74 -110C70 -98 58 -100 49 -107C34 -119 23 -140 23 -155C23 -190 74 -261 166 -261C219 -261 280 -233 314 -208C383 -157 446 -79 470 81C491 223 529 388 546 430ZM456 386C452 357 433 283 420 252C402 216 366 174 325 129C288 88 239 56 212 56C192 56 182 77 182 120C182 165 199 242 226 292C256 348 281 377 311 389C327 395 353 402 375 402C408 402 436 394 456 386Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.072,3.132)"><path d="M523 0V30C483 33 455 48 422 83C390 115 285 234 266 263C309 314 327 333 351 357C388 392 414 404 483 415V444L273 435V405C320 400 321 392 302 364C285 339 256 300 233 277C218 262 201 250 170 243V710C130 697 73 680 22 675V647C85 642 89 637 89 570V107C89 44 83 35 14 30V0H244V30C179 35 170 41 170 107V214C176 216 181 217 186 217C194 217 203 212 216 196C273 129 333 54 384 -1L523 0Z"></path></g></svg> control of HNN+PID+c strategy</td></tr></div></div></figure>

<p>The constraint violation (<span class="nowrap"><svg height="9.39034pt" id="M230" style="vertical-align:-3.42943pt" version="1.1" viewbox="-0.0498162 -5.96091 7.52435 9.39034" width="7.52435pt" xmlns="http://www.w3.org/2000/svg"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M546 430L539 434C529 434 505 438 495 440C473 444 450 448 430 448C352 448 265 412 213 366C145 306 96 203 96 103C96 22 135 -12 160 -12C190 -12 238 14 262 32C310 68 368 120 411 184H413C403 117 396 75 384 21C353 -118 325 -158 291 -184C270 -200 241 -205 208 -205C133 -205 90 -164 74 -110C70 -98 58 -100 49 -107C34 -119 23 -140 23 -155C23 -190 74 -261 166 -261C219 -261 280 -233 314 -208C383 -157 446 -79 470 81C491 223 529 388 546 430ZM456 386C452 357 433 283 420 252C402 216 366 174 325 129C288 88 239 56 212 56C192 56 182 77 182 120C182 165 199 242 226 292C256 348 281 377 311 389C327 395 353 402 375 402C408 402 436 394 456 386Z"></path></g></svg>)</span> changes during convergence process.</p>

Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: Hopfield Neural Network Method for Problem of Telescoping Path Optimization of Single-Cylinder Pin-Type Multisection Boom 