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Cooperative dual-crane lifting is an important but challenging process involved in heavy and critical lifting tasks. This paper considers the path planning for the cooperative dual-crane lifting. It aims to automatically generate optimal dual-crane lifting paths under multiple constraints, i.e., collision avoidance, coordination between the two cranes, and balance of the lifting target. Previous works often used oversimplified models for the dual-crane lifting system, the lifting environment, and the motion of the lifting target. They were thus limited to simple lifting cases and might even lead to unsafe paths in some cases. We develop a novel path planner for dual-crane lifting that can quickly produce optimized paths in complex 3-D environments. The planner has fully considered the kinematic structure of the lifting system. Therefore, it is able to robustly handle the nonlinear movement of the suspended target during lifting. The effectiveness and efficiency of the planner are enabled by three novel aspects: 1) a comprehensive and computationally efficient mathematical modeling of the lifting system; 2) a new multiobjective parallel genetic algorithm designed to solve the path planning problem; and 3) a new efficient approach to perform continuous collision detection for the dual-crane lifting target. The planner has been tested in complex industrial environments. The results show that the planner can generate dual-crane lifting paths that are easy for conductions and optimized in terms of costs for complex environments. Comparisons with two previous methods demonstrate the advantages of the planner, including safer paths, higher success rates, and the ability to handle general lifting cases.

We prove an estimate on the smallest singular value of a multiplicatively and additively deformed random rectangular matrix. Suppose $n\le N \le M \le dN$ for some constant $d\ge 1$. Let $X$ be an $M\times n$ random matrix with independent and identically distributed entries, which have zero mean, unit variance and arbitrarily high moments. Let $T$ be an $N\times M$ deterministic matrix with comparable singular values $c\le s_{N}(T) \le s_{1}(T) \le c^{-1}$ for some constant $c>0$. Let $A$ be an $N\times n$ deterministic matrix with $\|A\|=O(\sqrt{N})$. Then we prove that for any $\epsilon>0$, the smallest singular value of $TX-A$ is larger than $N^{-\epsilon}(\sqrt{N}-\sqrt{n-1})$ with high probability. If we assume further the entries of $X$ have subgaussian decay, then the smallest singular value of $TX-A$ is at least of the order $\sqrt{N}-\sqrt{n-1}$ with high probability, which is an essentially optimal estimate.

No abstract uploaded!

No abstract uploaded!