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$
>A(PQ@
PA
/ A(AH 8 .( $ $$ ( % $ # 8 + # $ >A(PQ@ ## $ KQEL( S 8 $ # 7 # >A(EN@( < C ( A(A+ * $ 7 ( "+ 9 " N? JC+ C 7 7 ( 07 #
$ $C+ 8 $ # KQE+ QQL( , $C ##
$ # 7 7. #
$ $( 8 . $ C # " $ < $ + ( 7 C (
" % " " > " "
0 #*W# 7 . $ "
$ . C 8 # " $8 $ 8 $ ( , " 8 #
$ CCH 9J# . >S< @+ 8 $ C9 8 9 $ . *" 8 $ #C+ $ 7 . $ $ V+c+S+ 8 $ * >F$ @( 8 $ "* " $ ( 3 # " $ " ( 09 $ # 3< ( 3 $ # ( A(E( ' 9 " # $ # 8 $ C # 9 9 "+ # F$ ( :D# " 9 $
$ C( 3 9 8 $ # + 9 # $ + 7. ## $ # 8 8 # . $ >A(P?@( 9 . # # . . . $ ## $ ( 0 "
PE
300 200
Z
100 0 −100 −200 −300 −100 −50 0 50 100
50
100
−50
0
−100
X
Y
/ A(EH $ . # 8 8 (
D $ # + . # #
7 C + + D $ > @ # + . # #
7 C + @ ( ,
$ C9 8 " C * + ( , $ H 6( $ " a?+ . # + A( $ " a?+ . # $
+ E( $ " Da?+ . # $ *+ P( $ " Da?+ . #
*+ Q( $ " a?+ . # $ ++ M( $ " a?+ . #
+( $ 9 #$ ( = ( A(P # " $ ( * D " 79 + # ( $ + 9 # D $ + * $ 7 9 # >A(P?@ > @( , C " ( A(A( , * $ 7 ( 2 C * D @ ( A(P( , !< $ C " # . C " * # $ *( = " $
$ F$ 9 7 + ## $9 D # $ (
% % 4 / 6 / % % 4 6$ $ % % 4$ / 6 " " /
% % 4 6"$ " $ $
! ! ! !
>A(PM@ >A(PU@ >A(PO@ >A(PN@
PP
/ A(PH @ C * D 79 + # ( @ C * D 79 + # $( @ C * D 8 9 + # ( @ C * D
7 9 + # (
% % 4" / 6 % % 4" / 6 % % 4"$ / 6 " % % 4$ / 6 % % 4 " / 6" % % 4 " / 6
! ! " !
! 4 ! $
!
>A(Q?@ >A(Q6@ >A(QA@ >A(QE@ >A(QP@ >A(QQ@
# " ( , "#* # 8 $ C
$ C+ ## $ 7. * # < 8 $ # KQEL( / $ C
$ .
$ >"$ @ # $ >A(QM@(
*
>A(QM@
# <8 + # 9 8 $ 7 C ( $ " . $ $ . $ + # 8 8 $ 8 # ( , # #"*
9
$
$ 7 C( ) * $ 7 # " # $+ 8 # " #
.#
9( , * "9 ( $ + 9 $ "C # 8 $ $ 8 $ + # 7 #
$ " ( . # 8 $ ##
$ 9 7 # ( A(Q 9 A(N+ 8 $ # # * C $ C 8 F$ ( " F$C 8 $ . $ # " 7 ( A(6?( , * + ## $ 8 "* ( # + 9 9 9 *
9
$ 7 C( # 8 $ 7 C ## $ " 8 " ( = 8 $
$ # 7 C "* $ ># ( A(6?@(
PQ
Koeficient a13 pro polohy z1, z2
Koeficient a11 pro polohy z1, z2
1
1
0.9 0.8
0.8
0.6 a13 [−]
a11 [−]
0.7
0.6 0.4 0.2
0.5 0.4 0.3 0.2
0 1
0.1
0
0.8
0.2
0.6
0 0
0.4
0.4
0.6
0.2
0 0.2
0.5 0.4
0.6
0.8 0
1
z2 [−]
z1 [−]
0.8
1
1
z1 [−]
z2 [−]
/ A(QH 4 7 C C $ C( $ Koeficient a15 pro polohy z1, z2
"
1
0.8
0.8
a17 [−]
0.6 0.4
0.6 0.4
0
0 0.2 0 0
0.2 0.5 0.2
0.4
0.6
0.8
1
1
0 0
0.5 0.2
0.4
0.6
z1 [−]
z2 [−]
0.8
1
1
1
0.8
0.8
0.6
0.6
0.4 0.2
0 0.2 0.4 0.4
0.6 0.6
z2 [−]
0.8
0.8 1
1
"
(
Koeficient a35 pro polohy z1, z2
a35 [−]
a33 [−]
Koeficient a33 pro polohy z1, z2
0.2
z1 [−]
1
z2 [−]
/ A(MH 4 7 C C $ C( $
0 0
(
Koeficient a17 pro polohy z1, z2
1
a15 [−]
0.4 0.2 0 0 0
0.2 0.2
0.4 0.4
0.6 0.6
z1 [−]
0.8
0.8 1
1
z1 [−]
z2 [−]
/ A(UH 4 7 C C $ C( $
"
(
Koeficient a37 pro polohy z1, z2
Koeficient a55 pro polohy z1, z2
1
1
0.8
0.8
a55 [−]
0.6 a37 [−]
PM
0.4
0.6
0.4
0.2
0.2 0 0 0
0.2
0.4
0.6
0.8
1
1
0
0 0
0.5
0.2
0.5
0.4
0.6
0.8
1
z1 [−]
1
z1 [−]
z2 [−]
z2 [−]
/ A(OH 4 7 C C $ C( , 7 + 7 F$ ( F$
"
Koeficient a57 pro polohy z1, z2
"
Koeficient a77 pro polohy z1, z2
1 0.9 0.8 0.7
a57 [−]
0.6
1
0.5 0.8
0.4 a77 [−]
0.3 0.2
0.6 0.4
1
0.1
0.8
0.2
0 0
0.6
0 1
0.5 1
0.8
0.6
0.4
0.2
0
0.4 0.8
1
0.2
0.6
0.4
z2 [−]
z1 [−]
0.2
z2 [−]
/ A(NH 4 7 C C $ C( $ Koeficient a35 pro polohy z1, z2 a uhly fi1=75 deg, fi2=50 deg
z1 [−]
0
0
"
(
Koeficient a35 pro polohy z1, z2 a uhly fi1=65 deg, fi2=62 deg
0.08
0.03
0.07 0.025
0.06
0.02 a35 [uT]
a35 [uT]
0.05 0.04 0.03 0.02
0.015 0.01 0.005
0.01 0 0
0 0
0.2
0.2
0.4
0.4 0.6 0.8 1 z1 [−]
0
0.2
0.4 z2 [−]
0.6
0.8
1
0.6 0.8 1 z1 [−]
0
0.2
0.4
0.6
0.8
1
z2 [−]
/ A(6?H 4 7 C C $ C C F$ (
PU
/ " $ $ # # 7 9 # J 8 $ * + $# $J#
.< $ >A(QU@(
>A(QU@
/#
* # $ . 8H # 8 C"+ "# # 8+ # "+ $ # 9+ C $ . ( /#
#
$ H
>A(QO@
*
3 3
((( 3 3 3 # $ . > a ?(??6O KL@(
3 3
((( 3 3
+ +
((( + + +
>A(QN@
, * F$ $ . + 8 $ < " ( 0 . $ 9 8 $ + * D " C+ 8 $ C( ,9#< "* $ C+ # 9 " $ 8 $ <
$ ( "* 9 $ 8 $ # 8 $ C $ # 2 KOL( 3# $ $ .
$
$
$ 9 $ > @( S ## $ C * # + #8 C 9 * "(
, - '
) " * D # " $ "8 $ C
$ ( S $ < $ . $ $ A(A(6 #
$
$ . 8 $ 9 8 $ # ( 0 $ #
$ 8 $ $ F$C < # 8 $ C( S C $ 9
$ + #
$ #< $ + #*" " $ + $ ( 3# $ 8 *8 $ $( "* " $ 8 $ * ( , # " 9 ## $ .C ## $ 7 9C ( # $
$ C+ F $ . 8 $ C+ 9
<
$ + 9 . + 9 C 8 $ *#
$ + (
$ .
$
$ F F$( 3 " 8H #
$ $
$ + #
$
$ + 9 < $ . H 9 9 # + 9
$ C : 1%+ 9
$ + 9 $ $ < + 9 $8 $ 7 C # 8 $
$ < + 9 7 C + 9 C 8 $ 8 $ * + 9 9 * 8 $ $ C $ $ 1% : # .+
$ " 8 $ 8 $ + 9
$ $ $ * ( 3 F # + C " D d " * $ F$ F$+ * $ # ( PO
PN
6 , .
$
$ 9 H <: + % & <: + % & <: + <: + I : <1%( * $ # 9
$ . $ : 1% # $ 8 $
$ ( 3# $ $ $ # ( E(6(
/ E(6H $ " 98 $ .C( S
$ . H <: + <: + % & <: % & <: ( S <:
$ . + 9 < : 9 ( 098 8 # . $ # # $ + 8 * $ ( 9 ( S % & <: % & <: C 8" # C ( " . # # 9 C J C+ $ " # . 9 C( # ( E(A( , $ # " % & <: <: ( 1 8 $ 9 1%+ #$ KPPL( # * * . 8 $ C #
$ 8 $ ( C 8$ "#* . #*" < 8 $ " 8 $(
/ E(AH '
% &
"
% &
Q?
"
(
$ " . $ . #$ > @+ # ( E(E(
/ E(EH 1 8 . 2('( 4 ( ! 1% 9 . " 5 ' $ B 7'4 '( *# . 8 9 B 7'4 '% B 7'4 '% $ B 7'4 ' : ' % C 5" 5 # ' % # ' % # ' + $ D( 9 C 8 $ C . 8 $ C # . *#
$ $ * ( = " $ $ F "* # 8 $ . 8 $ C " J ## $ 8"(
+#1 5 % # " C $+ # "$ < $ . " $ $ >E(6@( * ( #*
* *
>E(6@
Q6
# . $ 8 $ " C * 0 # $ " # " ( 3 " . $ * 9 J# $ + 9
+ 9 " J ( # * *
+#1 5 ,
$ # " C( !"9 8 9$ * + J#( ) # * 8 # $ $ 8 " 8 $ < * " 8 ( $8 # 9
$ $ * " 9 ( ) + 9 "$ $ $ C"9 " " $ # 8 $ " 8 $ + " # #9 . $ * ( " 9 # < ( ) ## 8$ ** "
$ * + 8$ # "* " . $ $ * ( "
$ *
$ 9 " + 9 * # .( , 9 $ 9 ( 3 " 9$ * # . " $ + J# > J $ @( 09 * # " " > $ C+ #
F$@+ # " * *
( , ? ? 6 6 6 ? ? ? 6 6 6 ? # #*" 8 " * 8 $ " 8 $ ## $ ( , @ 3 @ # #*" $ * . * $ $ " ## $ * (
$ + ) 2+ # # * . < 8 $ * ( 9J# "$ $ 9 $ 8 $ H
$ $ ( , $# ( E(P(
/ E(PH ,
$ $ ( S ( E(P # + 9 9 . # $ 9 " 8 $ >E(A@+ >E(E@ >E(P@H
* ( * (
( * (
*
* (
* (
3
* ( 36
* (
>E(A@ >E(E@ >E(P@
QA
=8$ # $ $ < $ * ( % $ " $ # " "* 9 #
+ # " $ $ > @ " + 9 # ( E(Q( Evolution of the Parameters z1i
1.8 1.6 1.4
z1i[−]
1.2 1 0.8 0.6 0.4 0.2
0
20
40
60
80
100 120 Individual
140
160
180
200
/ E(QH 8 8# 8 $ # " 8 $ C ( /#
? ? + @ + # " "$ $ $ (
C9 8 9 "* # C ( ) # " (
>O 6 5 " , A& 7= , )<. $ $ * $ $ . * >** @ ( , $
$ 9* F 7 $ ( <( , \
] < 9 ( = $ 8 $ $
$ C # * " 8+ * " " 8 D K6EL( , <
$ C
$ C9 8 $ 9 " #
$ <
$ ( 8* $ # *
$ CH
# " + 8 8
$ C 9# " 9 < 9 8 $ D C # "* " $ 8 $ 9 8+ C # " 8 "+ " # #< $ ## $ # + 8
$ C 8 8 9 ( / 7 <
$ .C ( * D # " C " $ .C( / " D# C
$ ( , $ < # C ' * .+ $8 7'& ' * .( N1 , " C ' * . # # # *" ( , # " 8 C"$ $ ( 9J# " + * * + * + (
QE
P 5 , " 7'& ' * . # $ 8
$ < C( "$ $ $ " ( 3# $ " C9 8 9 H 9 8 $ ) ; 3 $ C 8 $ $( = #
< # ( > @ $ <
>E(Q@( 0 (
( I
>E(Q@
# + # . 1 # 8 . ( 9 $ 8 $ * ) ; 4 .# " " $ ( = " $ $ # #
C " "
( , $ C # ' $ . 4 F "* <:
$ .
$( 3 + ## $9 " C9 $ "
$ C+ $ $ F "* # 8 $
$ C+ # * "$ $ <
( 9 "9
$ C
# * ) ; I
# $
$ $ $ # < >E(M@( " 8 $ C9 # >E(M@H
>E(M@ , C C9 8 $ *
$ C( 8
$ $
$ C " " 8( 9 # ( & " 8 $ # $ " $ ( E(M( * 6 6 6 *
6 6 6 6
/ E(MH '" C
$ C
QP
, .
$
$ 9 " C <
$ .C( , $ $ $ C( = " 8 $ * 8 $ " # 8 $ C >( >E(6@@ < <: + $ # # * 9
$
$ C( $ 9 < $ C < : ( * " $ * 9 ( / # $ ( E(U(
/ E(UH < $ . ( ! (
( E(6 # $
$ (
OA&
,( K6L ! K6L 0 K6L 0 K6L 0 K6L D( . K6L
% & % &OA&
,( 7= ,( % K6L > ;@ K6L & K6L = < T KAL K6L K6L . K6L . K6L . K6L #8 8" K6L D( .
K6L K?L 8 K6L " KML R G K6L $ KPL KPL < KPL $ 9
KEL # $ 9 < KPL 9
KPL D( .
K6L K6L # $ 9 < K6L
E(6H I
8 $ : 1%
>O 6 , D $ # 8$ 9 8 $ C KE?L( 3# # 9 $ # 8 $ " 8 $( C< # . $ .( 9#< 8 + # " $ ( 8 .<
QQ
# 9 # $C 9( , D $ < . C $ . $ "( ) # 8$ *" " $ $+ #
* 9J . $ * # $ 9 #9* $ * $( , . $ # 9 * # \$ .](
, % ' . &
-" " "?"
0 . V > V@ . # . C"$ *( 8 + # " $ " ( 09 " $ # 3< ( 3 $ #$ #
8 # ( E(O(
300 200 100 Z
0 −100 −200 −300 −100 −50 0 50 100
100
0
50
−50
−100
X
Y
/ E(OH $ . V # #
# * 8 8 ( ' 9 " # $ # 8 $ C # 9 9 "+ # F$ ( " #
$ C # ( E(N( &
@ 7$ "
,9 $ C . # $H
*
>E(U@
# <8 # 9 8 $ 7 C ( , $ $ . $ # 9 #"* $ . $ ( #"* $ 9
$ 7 C # # 8 $
$ 9 . $ ( , $ V # 9 7 + + + + ## $9 8 A(A(6( S# * . $ $ " # ( E(N( , JC
F$ # 8 $ C + + # C (
QM
Topologie objektivni funkce X−korekce pro polohy z1 a z2
sum(a13, a15, a17, a33) [−]
1
0.8
0.6
0.4
0.2 0 0 0
0.2
0.4
0.5 0.6
0.8
1
1
z1 [−]
z2 [−]
/ E(NH " #
$ C # 8 $ $ $ 8 $ 7 C C $ C( 9 # J * + $# $J#
. < $ >E(O@
>E(O@
## 9 # * . J# ( A(Q( 8 $ * # " * * 8" * ( /#
* $ . 8 >A(A(A@( S 8 #+ 9 # 9 " "$ $ < $ 7D 8 $ $ $( $ # D 9 8 " . ( 8 " 8 ( 9 JC " C $ 9 8
$ $ ( $# 9
$ ( 3 D # + C"9 " "
#
"$ $ $ $ #< 8 $ 8 $ " 8 $(
&&
%
, C . V 9 % & <>: @+ % & < >: @ . >1%@ ( ! D < . ><: @ 8 (
A 6Q , . % & <: \C] % C &+ 8 $ 8 $ # C( ! C $ % + & C ( + 9 . $ * H " %4&+ " %4& H 9 . $ $ + 9 8 > %@+ 9 4R + +
$
QU
$ " > a?(A @+ $ " e > ea?(O6U @( 7 5Q , . 9 . 8 $ .< C+ * 8 $ #
. ( &(
A % !
&1
,#
"$ $ #*" 8 $ >E(6@( , <
$ 9 <: >): @ .( 0 #$ 9 J <: .( , ! " %4& < <$ "+ $ "( S <
9 8" # * $ 9 $ * 9 * $ <
$ ( )< . 8 $ $ # # + 9 #$ $ 8$( !"$ $ $ $ . $ 9
+ 9 9J# $ ( ) 9 $ * 8 " 8* KAML( ! D 9 #
C 8 $ $ <
$ . . 8 $ .C $ $ ( : .+ $ $ . + 9 $ \ ] $ + . . 9 \ "#* ] ( C 9 # " C" * + # 9 . ( 8 8# 8 $ C # 8 $ C # 8 ( E(6?( 0 8 "#* $ * $ C $ C 8 $ $ < $ + 9 $ $ . 8 $ * C $ $ (
Postupné odhady parametrù
Vyvoj optimalizovanych parametru v case
1.8
1.5
1.6
Relativni polohy z(i)
Hodnota parametru
1.4
1.2
1
0.8
1
0.5
0.6
0.4
0.2 0
500
1000
1500
2000 Individual
2500
3000
3500
0 0
4000
1000
2000
3000 Generace
4000
5000
6000
/ E(6?H 8# 8 $ C # 8 $ C ( 8# $ # * $ * $ 1< 8 $ #
# ( E(66( ! # $ + < 7 $
$ 7 C * > . $ @+ C" $ 9 $ $ * 9 $ . $ * ( S 8 # $ ( E(A( =#"* $ . $ % & <: > % & @ *" $ ( $ $ $ 8$ "#* 9 <: (
$
Vyvoj hodnot objektivni funkce v case
QO Diverzita populace v posledni generaci
−3
−7.3064
0
x 10
−0.2
−7.3065
Hodnoty objektivni funkce
Hodnoty objektivni funkce
−0.4 −0.6 −0.8 −1 −1.2
−7.3065
−7.3065
−7.3065
−1.4
−7.3065 −1.6 −1.8 0
1000
2000
3000 Generace
4000
5000
−7.3065 0
6000
10
20
30
40 Jedinec
50
60
70
80
/ E(66H 8# $ 1% 8 * ( ) , $
1% >6Z6@ ): >P?ZE?@ : >): Z1%@
"
$
*4 6 6
$
6
,C" ( 1 ( ?(?6QP ?(??U? ?(?AUP ?(?AE? ?(NQA6 ?(?MQ? ?(?QE? ?(??Q?
E(AH ,
$ ( > # < >C@ .
$ $ @ 2 8 >.@ * + # *
$ C" 8 $ 8C 9 . 8 $ >1%@( 0 * * $ "* # F $ $ $ ( , * .CH " I+ 8 $( =# * * $#
8 #
# ( E(E+
$ ( E(P( 8 $ 7 C V " 6 # ( E(Q $ 7 #
$ . $ ( ). . 9 7. # ( E(6A E(6E( , . !< (
= * J# * $ $ $ . 9 # $
" ( - . $ #
D 7<
# ( 2 # C( , $ V KNML KNPL(
S >@ 6( A( E( P( Q( M( U( O( N( 6?( 66( 6A(
K
K
A(AAA? A(6QA? A(?OA? A(?6A? 6(NPA? 6(OU6? 6(O?6? 6(UE6? 6(MM6? 6(QN6? 6(QA?? 6(PQ??
QN
K.L MP(AMPO M?(APP6 QM(AAEE QA(A?AQ PO(6O6O PP(6M6? P?(6P?E EM(66NQ EA(?NOO AO(?UO? AP(?QUE A?(?EMQ
E(EH =# * 9 * V
, / 4 3 ( ," 8 $ ?(?OQ KL , 6 K%L ) ( C 3 ?(??6O KL )D( 0 ?(6OON KL , C ' 6A K
) 7 %
%
%
%
?(?????? ?(?????? ?(?????? ?(??UE?M
%
?(??UE?M
2((
E(QH 4 7 C V "
%
QE(PQMMPE 6
(
M?
B_z [ T ]
x 10
250
−5
3
200 2
150 100
1 X [ mm ]
50 0
0 −50
−1 −100 −150
−2
−200 −250 −250 −200 −150 −100
−3 −50
0 50 Y [ mm ]
100
150
200
/ E(6AH 8 . V " Sa?(
B_z [ T ], X = 25 mm
x 10
Z [ mm ]
250
−4
1
200
0.8
150
0.6
100
0.4
50
0.2
0
0
−50
−0.2
−100
−0.4
−150
−0.6
−200
−0.8
−250 −250 −200 −150 −100
−50
0 50 Y [ mm ]
100
150
200
−1
/ E(6EH ) . $ VaAQ(
M6
, , ' .&% &&
-" " "?"
VSA< # ** $ ( 8 $ + # " < * " ( 09 # 3< C+ 8 $ # ( # # 8 $ $ # # # " < V # ( >E(N@( ' 9 " # $ # 8 $ C # 9 9 "+ # F$ ( S# * 8 8 " $ # ( E(6P( Y
250
250
200 200
150
150
100
100
50
Z
0
Z
50
−50
0
−100 −50
−150
−100
−200
−150
−250 −50
−200
0 50
−250 −50
0 X
50
−200
−100
100
0
200
Y
X
/ E(6PH S# * 8 8 VSA( &&
@ 7$ "
,9 $ C # $ >E(N@H
*
)
>E(N@
# <8 + # 9 8 $ 7 C + ) # ## $ $ 7 # " < ( , $ VSA # 7 f + + + # $ # 8 ( >E(6Q@( S 8 8 + 9 * 8 $ 7 C $ $ 8 $ . 8 $ C > $ C+ #
$ F$C@ $ 8 $ "C C # 8 $ $( , " 7D 8 $ $ $( $ # D 9 8 " ( 28 JC C " 9 9 $ $ ( S# * . $ $ #
$ $ # " ( E(6Q( S # 8 " " #
$ C # 8 $ $ . $ ( , 8 $ # 9 J * + $# >E(6?@ $J< #
. $ (
*
## 9 # * . ( A(Q(
>E(6?@
MA
Topologie objektivni funkce XZ2−korekce pro polohy z1, z2
Topologie objektivni funkce XZ2−korekce pro polohy z1, z2
1
1
0.9 sum ( a11, a15, a17, a33, −a13)
sum ( a11, a15, a17, a33, −a13)
0.8
0.6
0.4
0.2
0
0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0
−0.2 0 0.5 1
1
0.6
0.8
0.2
0.4
0
0.5 1
z1 [−]
z2 [−]
1
0.8
0.6
0.4
0.2
0
z1 [−]
z2 [−]
/ E(6QH 4 8 $ 7 C C $ C " " " # C( 39 # 8 # 8 $ >E(N@ J D 8 8 >E(6?@+ 8 < >E(66@( >E(66@ ) ) # $ 7 ( 3# $ 9 8$ #< < ( /#
* # $ . 8 >A(A(A@( $# # " # * " 9
$ ( 3 D # + C"9 " "
#
"$ $ ( *
&&&
)
)
%
, C VSA 9 . ( < * < . 8 $ $ + $ #
. 8 .
. <: (
A 6Q 1 $ . $ <: :
. *
$ $ !( $ ## $
< $ .( < : + 8 $ $+ " " (
7 5Q 0 9 . $ . * 8 $ #
. 8 ( ) C# $ 8 . $ $ $ (
. . >A(6(U@ " ( , 1% # $ $ ( E(6M( 9 C9 $ $ 8 # 8 $ $8 $ 7 C ) ) ) "$ C"$ $ $ 9 * " $ $ ( , # " " "$ $ # $ * + 9 *# 8 ( ,C"$ $ $ # 8 ( E(6U( , C9 + 9 8 " 8 "#* D $ 8 $ $8 $ 7 C(
ME
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$ @ $ 7 ) ) ) 7 <
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C"$ $ 8 $8 $ 7 C <
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Optimalizacni trajektorie GA se zasahy operatora.
12
2
MP
x 10
0
−2
f (x) [ − ]
−4
−6
−8
−10
−12
−14 0
100
200
300 400 Generace [ − ]
500
600
700
/ E(6UH / # 1% " " $8 $ 7 C( D $ 7 + " 8 $ 7 C D< $ 7 + # 8 $ 7 C@ 9 $ $ ( $ " ( 3
+ 9 $ 8 $ # # 8 $ $ 8 $ ( , " 8 $ C * C"9 $ $
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9 * ( &&(
A % !
&&1
,#
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C"$ $ # 8 $ 7 C "$ $ $ ( * 8$ + 9 8 " 9 8 8 $ * ( , . 9 " "# $ # 8 $+
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) 5 "# Q =# * 9 8 $
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8 #
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S >@ 6( A( E( P( Q( M( U( O( N( 6?( 66( 6A( 6E( 6P( 6Q( 6M( 6U( 6O( 6N(
K
K
6(NQOO 6(NP?A 6(NA6M 6(N?E6 6(OOPQ 6(OMM? 6(OPUP 6(OAON 6(O6?E 6(UN6O 6(UUEA 6(UQPM 6(UEM6 6(U6UQ 6(MNN? 6(MO?P 6(MM6N 6(MPEE 6(MAPU
K.L QM(E?O? P6(EQ6Q P?(AOOE EN(AAQ6 EO(6M6N EU(?NOU EM(?EQP EP(NUAA EE(N?N? EA(OPQO E6(UOAM E?(U6NE AN(MQM6 AO(QNAN AU(QANU AM(PMMQ AQ(P?EA AP(EP?? AE(AUMO
MQ
Z < < < < < < < < < < < < < < < < < <
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%
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%
%
%
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E(OH 4 7 C cSA "
2(( %
6
6 (
MM
=9 7. " " $ 7 6 % # # "+ # " 8 " $ . ( 8 ( >E(6O@+ ##
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Hodnoty koeficientu a(m,n) v zavislosti na relativni poloze z 1.5 a11 1
a(m,n)
[−]
a33
0.5 a15
0 a17 −0.5
−1 0
a13 (max)
0.2
0.4
0.6
0.8
1 z [−]
1.2
1.4
1.6
1.8
2
/ E(6OH S 7 " $ $ . ( ). . 9 7. # C >E(6N@+ >E(A?@ >E(A6@( , . !< ( 8 * J# * $ $ $ . 9( - . $ #
D 7 # ( 2 # C(
MU
B_z [ T ]
−6
x 10
250 200
1
150 100
0.5
Z [ mm ]
50 0
0 −50
−0.5
−100 −150
−1 −200 −250 −250 −200 −150 −100
−50
0 50 Y [ mm ]
100
150
200
/ E(6NH 8 . cSA " Vc( S # "(
B_z [ T ]
x 10
50
8
40
6
30
4
20
2
10 Z [ mm ]
−6
0 0 −2 −10 −4 −20 −6 −30
−8
−40 −50 −50
−10 0 Y [ mm ]
50
/ E(A?H ) . $ cSA " cS( V # "(
MO
B_z [ T ]
−6
x 10 1
B_z [ T ]
0.5 0 −0.5 −1 −1.5 50 50 0
0 −50
Z [ mm ]
−50
Y [ mm ]
/ E(A6H ,7 . $ cSA " cS( V # "(
, / ' .&/ &(
-" " "?"
VSP< 9 ** $ ( 8 $ + # " * " ( 09 # 3< C+ 8 $ # ( # # 8 $ $ # # # V VSA # ( E(N( ' 9 " # $ # 8 $ C # 9 9 "+ # F$ ( / #
# * 8 8 " $ # ( E(AA( X 250 200
300
150
200
100
100 Z
Z
50 0
0
−50
−100
−100
−200
−150
−300 100
200
50
−200 −250 60
100 0 0
−100
−50 40
20
0 Y
−20
−40
−60
Y
−100
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/ E(AAH S# * 8 8 VSP(
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&(
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@ 7$ "
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Topologie objektivni funkce XZ4 korekce pro polohy z1 a z2
Topologie objektivni funkce XZ4−korekce pro polohy z1, z2
1 1
0.9
0.9 0.8 sum(a11, a13, a17, a33) [−]
sum(a11, a13, a17, a33) [−]
0.8 0.7 0.6 0.5 0.4 0.3
0.7 0.6 0.5 0.4 0.3 0.2 0.1
0.2
0 0
0.1
0.5
0 0
0.1
0.2
0.3
0.4
0.5 z2 [−]
0.6
0.7
0.8
0.9
1
1 0.5 0 z1 [−]
1
0.6
0.8
0.4
0.2
0
z1 [−]
z2 [−]
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/ E(AQH ! "< Barierova funkce:
B=1+0.2*(exp(−0.001*(maxcoeff+0.4).^10))
1.2 1.18 1.16 1.14
B [−]
1.12 1.1 1.08 1.06 1.04 1.02 1 0
0.5
1
1.5 2 Maximalizovany koeficient
2.5
3
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8 * J# * $ $ $ . 9( - . $ #
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K
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UE
Z < < < < Z < Z < < < <
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%
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%
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%
2((
E(66H 4 7 C VSP "
%
<E(NAOP 6
(
UP
B_z [ T ]
x 10
X [ mm ]
50
−7
40
8
30
6
20
4
10
2
0
0
−10
−2
−20
−4
−30
−6
−40
−8
−50 −50
0 Z [ mm ]
50
/ E(AUH ) . $ VSP " VS( c # "(
B_z [ T ]
−6
x 10 1
B_z [ T ]
0.5
0
−0.5
−1 50 50 0
X [ mm ]
0 −50
−50
Z [ mm ]
/ E(AOH ,7 . $ VSP " VS( c # "(
B_z [ T ],
UQ
Z=0 [mm]
x 10
50
−9
6
40 4
30 20
2
Y [mm]
10 0
0 −10
−2
−20 −30
−4
−40 −50 −50
−6 0 X [mm]
50
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! " : $ >: + 1%@ F "* " <
$ $C .
$
$ V
$ VSA VSP( /$ * 8 $ C " " F #
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## $ ( ,9 8 #9 " " $" 9< 8 C+ " * C ( , * 8 $
$ F$ + $ #
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$
& 3 , * $ 8 $ F$ "* 98 8 # 9 8 $ ( " 9 $ . 9 8 C * ( , # $ D * . D+ 9 C ## $ 9 C9 " 8 8 C 9 ( , # " " 9 * H 8" 8 $ " 8 $ $ * 8 + 8 JC + # " + #*" $ $ " 8 $ 8C( $ 9 $ # 8 $ $C
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S 8 $ # "< #8 $ ( , F$ "* D# 8 8 8 $ * ( * $ # $ * C9 8 " F" " $( 28 < 8 $
$ C $# d
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$ C " " ( =F "* + < # " D< $ >D 7 @ $ > 7<
@ # 8 $ 8 $ ( , "* $ 9
$ + # # $C 9< + # 9 * ( , ( *
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meta−ES algoritmus
GA algoritmus
300
200 180
250
160 140
Cetnost [ − ]
Cetnost [ − ]
200
150
100
120 100 80 60 40
50
20 0 0.04
0.06
0.08 0.1 0.12 Relativni poloha proudovodice z1 [ − ]
0.14
0.16
0 0.04
0.06
0.08 0.1 0.12 0.14 Relativni poloha proudovodice z1 [ − ]
0.16
0.18
/ P(6H &
$ $ <>6Z6@<: <1%( 1 D $ 6 ( $
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< $ #
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Optimalizacni trajektorie GA pro prvnich 100 generaci 0
−1
−2
−1.2
−4
−1.4
−6
−8 f (x) [ − ]
−1.6 f (x)
Optimalizacni trajektorie GA
−0.8
−1.8
−10
−2
−12
−2.2
−14
−2.4
−16
−2.6
−18
−2.8 0
10
20
30
40 50 60 Generace [ − ]
70
80
90
100
−20 0
500
1000
1500
2000 2500 3000 Generace [ − ]
3500
4000
4500
5000
/ P(AH / # 1% # $ " ( = " $ * "
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