Multi-Objective Immune Optimization of Path Planning for Ship Welding Robot
In order to improve the welding efficiency of the ship welding robot, the path planning of the welding robot based on immune optimization is proposed by taking the welding path length and energy loss as the optimization goals. First, on the basis of the definition of the path planning of the welding...
Saved in:
| Published in: | Electronics (Basel) Vol. 12; no. 9; p. 2040 |
|---|---|
| Main Authors: | , , , , |
| Format: | Journal Article |
| Language: | English |
| Published: |
Basel
MDPI AG
28.04.2023
|
| Subjects: | |
| ISSN: | 2079-9292, 2079-9292 |
| Online Access: | Get full text |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Abstract | In order to improve the welding efficiency of the ship welding robot, the path planning of the welding robot based on immune optimization is proposed by taking the welding path length and energy loss as the optimization goals. First, on the basis of the definition of the path planning of the welding robot, the grid modeling of the robot’s working environment and the triangular modeling of the welding weldments are carried out. Then, according to the working process of the welding robot, the length objective function, including the welded seam path and the welding torch path without welding, is constructed, and the energy loss function is constructed based on the kinematics and Lagrange function. Finally, the immune optimization algorithm based on cluster analysis and self-circulation is introduced to realize the multi-objective optimization of the path planning for the ship welding robot. The test results of four kinds of ship welding weldments show that compared with the simple genetic algorithm, immune genetic algorithm, ant colony algorithm, artificial bee colony, particle swarm optimization, and immune cloning optimization, the proposed multi-objective immune planning algorithm is the best in terms of planning path length, energy consumption, and stability. Furthermore, the average shortest path and its standard deviation, the average minimum energy consumption and its standard deviation, and the average lowest convergence generation and its standard deviation are reduced by an average of 9.03%, 54.04%, 8.23%, 19.10%, 27.84%, and 52.25%, respectively, which fully verifies the effectiveness and superiority of the proposed welding robot path planning algorithm. |
|---|---|
| AbstractList | In order to improve the welding efficiency of the ship welding robot, the path planning of the welding robot based on immune optimization is proposed by taking the welding path length and energy loss as the optimization goals. First, on the basis of the definition of the path planning of the welding robot, the grid modeling of the robot’s working environment and the triangular modeling of the welding weldments are carried out. Then, according to the working process of the welding robot, the length objective function, including the welded seam path and the welding torch path without welding, is constructed, and the energy loss function is constructed based on the kinematics and Lagrange function. Finally, the immune optimization algorithm based on cluster analysis and self-circulation is introduced to realize the multi-objective optimization of the path planning for the ship welding robot. The test results of four kinds of ship welding weldments show that compared with the simple genetic algorithm, immune genetic algorithm, ant colony algorithm, artificial bee colony, particle swarm optimization, and immune cloning optimization, the proposed multi-objective immune planning algorithm is the best in terms of planning path length, energy consumption, and stability. Furthermore, the average shortest path and its standard deviation, the average minimum energy consumption and its standard deviation, and the average lowest convergence generation and its standard deviation are reduced by an average of 9.03%, 54.04%, 8.23%, 19.10%, 27.84%, and 52.25%, respectively, which fully verifies the effectiveness and superiority of the proposed welding robot path planning algorithm. |
| Audience | Academic |
| Author | Yuan, Mingxin Gao, Yunqiang Sun, Hongwei Guo, Zhenjie Shen, Yi |
| Author_xml | – sequence: 1 givenname: Yi surname: Shen fullname: Shen, Yi – sequence: 2 givenname: Yunqiang surname: Gao fullname: Gao, Yunqiang – sequence: 3 givenname: Mingxin surname: Yuan fullname: Yuan, Mingxin – sequence: 4 givenname: Hongwei surname: Sun fullname: Sun, Hongwei – sequence: 5 givenname: Zhenjie surname: Guo fullname: Guo, Zhenjie |
| BookMark | eNp9kFtLAzEQhYNUsNb-Al8WfN6ayza7eSzFS7HS4gUflzQ7aVN2k5rNCvrrTa0PIuKEYZLhfCdwTlHPOgsInRM8YkzgS6hBBe-sUS2hWFCc4SPUpzgXqaCC9n7cT9Cwbbc4liCsYLiP7u67Oph0sdpGE_MGyaxpOgvJYhdMYz5kMM4mTidLGTbJspbWGrtOtPPJ48bskheoq_3iwa1cOEPHWtYtDL_nAD1fXz1Nb9P54mY2ncxTxTgJ6bhSRFDQoDXHmZKQSSxlQYDneU4ylavYUFWYS4gPBmMqFCW4ULziilM2QBcH3513rx20ody6ztv4ZUkLQlkRXUhUjQ6qtayhNFa74KWKp4LGqBihNnE_yTOBRc4oj4A4AMq7tvWgS2XCVwARNHVJcLnPu_wj78iyX-zOm0b693-pT9alieA |
| CitedBy_id | crossref_primary_10_1016_j_oceaneng_2024_120165 crossref_primary_10_1063_5_0160419 crossref_primary_10_3390_aerospace10070612 crossref_primary_10_1016_j_jmsy_2025_01_001 crossref_primary_10_1016_j_oceaneng_2024_119294 crossref_primary_10_1038_s41598_025_97745_2 |
| Cites_doi | 10.3390/met12071091 10.1108/IR-09-2021-0194 10.1145/3469213.3470398 10.1186/s13673-019-0164-y 10.1017/S0263574720000454 10.1177/0954408920960425 10.1016/j.cie.2021.107230 10.1177/0142331221998832 10.1109/TII.2021.3125447 10.1016/j.asoc.2020.106135 10.1145/3503047.3503056 10.3901/JME.2019.17.077 10.1007/s00500-016-2121-2 10.1016/j.asoc.2021.107439 10.1016/j.cie.2021.107397 10.1108/IR-06-2019-0137 10.1016/j.egypro.2011.12.1008 10.1007/s10586-018-2189-9 10.3390/app11083417 |
| ContentType | Journal Article |
| Copyright | COPYRIGHT 2023 MDPI AG 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. |
| Copyright_xml | – notice: COPYRIGHT 2023 MDPI AG – notice: 2023 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. |
| DBID | AAYXX CITATION 7SP 8FD 8FE 8FG ABUWG AFKRA ARAPS AZQEC BENPR BGLVJ CCPQU DWQXO HCIFZ L7M P5Z P62 PHGZM PHGZT PIMPY PKEHL PQEST PQGLB PQQKQ PQUKI PRINS |
| DOI | 10.3390/electronics12092040 |
| DatabaseName | CrossRef Electronics & Communications Abstracts Technology Research Database ProQuest SciTech Collection ProQuest Technology Collection ProQuest Central (Alumni) ProQuest Central UK/Ireland Advanced Technologies & Computer Science Collection ProQuest Central Essentials ProQuest Central ProQuest Technology Collection ProQuest One Community College ProQuest Central Korea SciTech Collection (ProQuest) Advanced Technologies Database with Aerospace Advanced Technologies & Aerospace Database ProQuest Advanced Technologies & Aerospace Collection ProQuest Central Premium ProQuest One Academic (New) ProQuest Publicly Available Content Database ProQuest One Academic Middle East (New) ProQuest One Academic Eastern Edition (DO NOT USE) ProQuest One Applied & Life Sciences ProQuest One Academic (retired) ProQuest One Academic UKI Edition ProQuest Central China |
| DatabaseTitle | CrossRef Publicly Available Content Database Advanced Technologies & Aerospace Collection Technology Collection Technology Research Database ProQuest One Academic Middle East (New) ProQuest Advanced Technologies & Aerospace Collection ProQuest Central Essentials ProQuest One Academic Eastern Edition Electronics & Communications Abstracts ProQuest Central (Alumni Edition) SciTech Premium Collection ProQuest One Community College ProQuest Technology Collection ProQuest SciTech Collection ProQuest Central China ProQuest Central Advanced Technologies & Aerospace Database ProQuest One Applied & Life Sciences ProQuest One Academic UKI Edition ProQuest Central Korea ProQuest Central (New) ProQuest One Academic Advanced Technologies Database with Aerospace ProQuest One Academic (New) |
| DatabaseTitleList | CrossRef Publicly Available Content Database |
| Database_xml | – sequence: 1 dbid: PIMPY name: Publicly Available Content Database url: http://search.proquest.com/publiccontent sourceTypes: Aggregation Database |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 2079-9292 |
| ExternalDocumentID | A749097326 10_3390_electronics12092040 |
| GeographicLocations | China |
| GeographicLocations_xml | – name: China |
| GroupedDBID | 5VS 8FE 8FG AAYXX ADMLS AFFHD AFKRA ALMA_UNASSIGNED_HOLDINGS ARAPS BENPR BGLVJ CCPQU CITATION HCIFZ IAO ITC KQ8 MODMG M~E OK1 P62 PHGZM PHGZT PIMPY PQGLB PROAC 7SP 8FD ABUWG AZQEC DWQXO L7M PKEHL PQEST PQQKQ PQUKI PRINS |
| ID | FETCH-LOGICAL-c361t-5dc192efeff604cae4a0aa81e677714c7c4c7edd06aec7c3e529c2108c6d6c623 |
| IEDL.DBID | P5Z |
| ISICitedReferencesCount | 6 |
| ISICitedReferencesURI | http://www.webofscience.com/api/gateway?GWVersion=2&SrcApp=Summon&SrcAuth=ProQuest&DestLinkType=CitingArticles&DestApp=WOS_CPL&KeyUT=000987373800001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| ISSN | 2079-9292 |
| IngestDate | Fri Jul 25 07:05:27 EDT 2025 Tue Nov 04 18:40:20 EST 2025 Sat Nov 29 07:14:44 EST 2025 Tue Nov 18 21:29:46 EST 2025 |
| IsDoiOpenAccess | true |
| IsOpenAccess | true |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 9 |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c361t-5dc192efeff604cae4a0aa81e677714c7c4c7edd06aec7c3e529c2108c6d6c623 |
| Notes | ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 |
| OpenAccessLink | https://www.proquest.com/docview/2812387141?pq-origsite=%requestingapplication% |
| PQID | 2812387141 |
| PQPubID | 2032404 |
| ParticipantIDs | proquest_journals_2812387141 gale_infotracacademiconefile_A749097326 crossref_citationtrail_10_3390_electronics12092040 crossref_primary_10_3390_electronics12092040 |
| PublicationCentury | 2000 |
| PublicationDate | 2023-04-28 |
| PublicationDateYYYYMMDD | 2023-04-28 |
| PublicationDate_xml | – month: 04 year: 2023 text: 2023-04-28 day: 28 |
| PublicationDecade | 2020 |
| PublicationPlace | Basel |
| PublicationPlace_xml | – name: Basel |
| PublicationTitle | Electronics (Basel) |
| PublicationYear | 2023 |
| Publisher | MDPI AG |
| Publisher_xml | – name: MDPI AG |
| References | Eslami (ref_2) 2011; 6 Tan (ref_18) 2022; 44 Wang (ref_20) 2019; 55 Wang (ref_5) 2020; 39 ref_13 ref_35 ref_12 ref_34 ref_11 Yuan (ref_38) 2023; 22 Yao (ref_9) 2019; 47 Qiu (ref_22) 2021; 35 Wang (ref_33) 2021; 107 Sun (ref_31) 2020; 41 Miao (ref_17) 2021; 56 Dai (ref_37) 2022; 22 Eslami (ref_3) 2012; 14 Lou (ref_32) 2019; 22 Hu (ref_19) 2021; 235 Khajehzadeh (ref_1) 2011; 6 Machmudah (ref_14) 2021; 12 Nie (ref_6) 2021; 11 Teng (ref_24) 2021; 55 Stogiannos (ref_28) 2020; 89 Rout (ref_23) 2020; 47 Zhang (ref_25) 2021; 158 Yuan (ref_27) 2017; 23 Eslami (ref_4) 2011; 6 Li (ref_16) 2022; 18 Xue (ref_7) 2016; 45 Fang (ref_15) 2022; 49 Shen (ref_36) 2011; 47 Chen (ref_30) 2019; 9 Gao (ref_10) 2022; 12 ref_29 ref_26 Wang (ref_8) 2016; 21 Wang (ref_21) 2018; 35 |
| References_xml | – volume: 11 start-page: 21 year: 2021 ident: ref_6 article-title: Path planning of welding robot based on changing step fruit fly optimization algorithm publication-title: Manuf. Technol. Mach. Tool – ident: ref_26 doi: 10.3390/met12071091 – volume: 49 start-page: 835 year: 2022 ident: ref_15 article-title: Intelligent obstacle avoidance path planning method for picking manipulator combined with artificial potential field method publication-title: Ind. Robot doi: 10.1108/IR-09-2021-0194 – volume: 55 start-page: 1018 year: 2021 ident: ref_24 article-title: Dynamics analysis of flexible manipulator driven by SMA spring publication-title: J. Shanghai Jiaotong Univ. – volume: 41 start-page: 550 year: 2020 ident: ref_31 article-title: AGV optimal path planning based on improved genetic algorithm publication-title: Comput. Eng. Des. – ident: ref_34 doi: 10.1145/3469213.3470398 – volume: 6 start-page: 5012 year: 2011 ident: ref_1 article-title: Search for critical failure surface in slope stability analysis by gravitational search algorithm publication-title: Int. J. Phys. Sci. – ident: ref_11 – volume: 9 start-page: 11 year: 2019 ident: ref_30 article-title: Enhancing network cluster synchronization capability based on artificial immune algorithm publication-title: Hum.-Cent. Comput. Inf. Sci. doi: 10.1186/s13673-019-0164-y – volume: 39 start-page: 428 year: 2020 ident: ref_5 article-title: Autonomous intelligent planning method for welding path of complex ship components publication-title: Robotica doi: 10.1017/S0263574720000454 – volume: 235 start-page: 45 year: 2021 ident: ref_19 article-title: A gantry robot system for cutting single y-shaped welding grooves on plane workpieces publication-title: Proc. Inst. Mech. Eng. Part E J. Process Mech. Eng. doi: 10.1177/0954408920960425 – volume: 47 start-page: 224 year: 2011 ident: ref_36 article-title: Viros evolutionary immune clonal algorithm for optimization of manipulator publication-title: Comput. Eng. Appl. – volume: 56 start-page: 107230 year: 2021 ident: ref_17 article-title: Path planning optimization of indoor mobile robot based on adaptive ant colony algorithm publication-title: Comput. Ind. Eng. doi: 10.1016/j.cie.2021.107230 – volume: 6 start-page: 1984 year: 2011 ident: ref_4 article-title: Optimization and coordination of damping controls for optimal oscillations damping in multi-machine power system publication-title: Int. Rev. Electr. Eng. – volume: 44 start-page: 766 year: 2022 ident: ref_18 article-title: Path planning of surgical needle: A new adaptive intelligent particle swarm optimization method publication-title: Trans. Inst. Meas. Control. doi: 10.1177/0142331221998832 – volume: 45 start-page: 713 year: 2016 ident: ref_7 article-title: Welding robot path planning based on DTC-MOPSO algorithm publication-title: Inf. Control – volume: 12 start-page: 677 year: 2021 ident: ref_14 article-title: Cyclic path planning of hyper-redundant manipulator using whale optimization algorithm publication-title: Int. J. Adv. Comput. Appl. – volume: 18 start-page: 5253 year: 2022 ident: ref_16 article-title: A general framework of motion planning for redundant robot manipulator based on deep reinforcement learning publication-title: IEEE Trans. Ind. Inform. doi: 10.1109/TII.2021.3125447 – volume: 89 start-page: 106135 year: 2020 ident: ref_28 article-title: An enhanced decentralized artificial immune-based strategy formulation algorithm for swarms of autonomous vehicles publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2020.106135 – ident: ref_29 doi: 10.1145/3503047.3503056 – volume: 55 start-page: 77 year: 2019 ident: ref_20 article-title: Research on obstacle avoidance strategy for welding robot publication-title: J. Mech. Eng. doi: 10.3901/JME.2019.17.077 – volume: 35 start-page: 299 year: 2018 ident: ref_21 article-title: Research on collaborative modeling and obstacle avoidance control for humanoid dual manipulator publication-title: Comput. Simul. – volume: 21 start-page: 5869 year: 2016 ident: ref_8 article-title: Intelligent welding robot path optimization based on discrete elite PSO publication-title: Soft Comput. doi: 10.1007/s00500-016-2121-2 – volume: 23 start-page: 29 year: 2017 ident: ref_27 article-title: A real-time immune planning algorithm incorporating a specific immune mechanism for multi-robots in complex environments publication-title: Proc. Inst. Mech. Eng. Part I J. Syst. Control Eng. – volume: 12 start-page: 3608899 year: 2022 ident: ref_10 article-title: Path optimization of welding robot based on ant colony and genetic algorithm publication-title: J. Appl. Math. – volume: 107 start-page: 107439 year: 2021 ident: ref_33 article-title: Ant colony optimization for traveling salesman problem based on parameters optimization publication-title: Appl. Soft Comput. doi: 10.1016/j.asoc.2021.107439 – volume: 35 start-page: 72 year: 2021 ident: ref_22 article-title: Collision avoidance path planning of dual manipulators based on bidirectional planning of improved artificial potential field method publication-title: J. Jiangsu Univ. Sci. Technol. – ident: ref_12 – volume: 158 start-page: 107397 year: 2021 ident: ref_25 article-title: Energy-efficient path planning for a single-load automated guided vehicle in a manufacturing workshop publication-title: Comput. Ind. Eng. doi: 10.1016/j.cie.2021.107397 – volume: 47 start-page: 49 year: 2019 ident: ref_9 article-title: Research on path planning method for welding robot based on improved bee colony algorithm publication-title: Mach. Tool Hydraul. – volume: 47 start-page: 68 year: 2020 ident: ref_23 article-title: Optimal trajectory generation of an industrial welding robot with kinematic and dynamic constraints publication-title: Ind. Robot doi: 10.1108/IR-06-2019-0137 – volume: 22 start-page: 84 year: 2023 ident: ref_38 article-title: Feature parameters extraction of ship welds based on spatial position and contour distance publication-title: Trans. China Weld. Inst. – volume: 14 start-page: 763 year: 2012 ident: ref_3 article-title: PSS and TCSC damping controller coordinated design using GSA publication-title: Energy Procedia doi: 10.1016/j.egypro.2011.12.1008 – volume: 22 start-page: 3419 year: 2019 ident: ref_32 article-title: Improved hybrid immune clonal selection genetic algorithm and its application in hybrid shop scheduling publication-title: Cluster Comput. doi: 10.1007/s10586-018-2189-9 – volume: 22 start-page: 12491 year: 2022 ident: ref_37 article-title: Feature recognition of ship welding seam based on triangulation and contour analysis publication-title: Sci. Technol. Eng. – ident: ref_35 doi: 10.3390/app11083417 – ident: ref_13 – volume: 6 start-page: 888 year: 2011 ident: ref_2 article-title: Damping controller design for power system oscillations using hybrid GA-SQP publication-title: Int. Rev. Elec. Eng. |
| SSID | ssj0000913830 |
| Score | 2.2869334 |
| Snippet | In order to improve the welding efficiency of the ship welding robot, the path planning of the welding robot based on immune optimization is proposed by taking... |
| SourceID | proquest gale crossref |
| SourceType | Aggregation Database Enrichment Source Index Database |
| StartPage | 2040 |
| SubjectTerms | Algorithms Ant colony optimization Cloning Cluster analysis Efficiency Energy consumption Environment models Genetic algorithms Kinematics Mathematical models Mathematical optimization Multiple objective analysis Optimization algorithms Particle swarm optimization Robot dynamics Robots Shipbuilding Shortest-path problems Simulation Standard deviation Technology application Traveling salesman problem Welding Weldments Working conditions |
| Title | Multi-Objective Immune Optimization of Path Planning for Ship Welding Robot |
| URI | https://www.proquest.com/docview/2812387141 |
| Volume | 12 |
| WOSCitedRecordID | wos000987373800001&url=https%3A%2F%2Fcvtisr.summon.serialssolutions.com%2F%23%21%2Fsearch%3Fho%3Df%26include.ft.matches%3Dt%26l%3Dnull%26q%3D |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVHPJ databaseName: ROAD: Directory of Open Access Scholarly Resources customDbUrl: eissn: 2079-9292 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0000913830 issn: 2079-9292 databaseCode: M~E dateStart: 20120101 isFulltext: true titleUrlDefault: https://road.issn.org providerName: ISSN International Centre – providerCode: PRVPQU databaseName: Advanced Technologies & Aerospace Database customDbUrl: eissn: 2079-9292 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0000913830 issn: 2079-9292 databaseCode: P5Z dateStart: 20120301 isFulltext: true titleUrlDefault: https://search.proquest.com/hightechjournals providerName: ProQuest – providerCode: PRVPQU databaseName: ProQuest Central customDbUrl: eissn: 2079-9292 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0000913830 issn: 2079-9292 databaseCode: BENPR dateStart: 20120301 isFulltext: true titleUrlDefault: https://www.proquest.com/central providerName: ProQuest – providerCode: PRVPQU databaseName: Publicly Available Content Database customDbUrl: eissn: 2079-9292 dateEnd: 99991231 omitProxy: false ssIdentifier: ssj0000913830 issn: 2079-9292 databaseCode: PIMPY dateStart: 20120301 isFulltext: true titleUrlDefault: http://search.proquest.com/publiccontent providerName: ProQuest |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwpV1NT9tAEB0R6KEcgH6JUIj2gNRLrdhee22fKkBBRYjEoq2a9mKtx7sqCOJADMf-9s44m8Ah4tKDD_7UyrM7-2Z25z2AwyTGOGSNsExW1otiG3haSev5iMamgU6sLFuxiWQ4TMfjLHcJt5nbVrnwia2jrmrkHHk_pJlIErqPgi_TO49Vo3h11UlodGCDWRJYuiGPfy9zLMx5mUp_TjYkKbrvP2nLzLhoNPQ56fFsQlrtltu55nT7f1u5A1sOZYqjebd4A2tm8hY2n3EPvoPztvTWG5XXc5cnzrhSxIgR-ZBbV5wpaitygohiIW0kCOKKb3-upuKnaVetxGVd1s17-HE6-H7y1XPKCh5KFTReXCEhO2ONtcqPUJtI-1qngVFJQo3HBOkwVeUrbehEmjjMkILDFFWlkBDTB1if1BOzCyL2TShjJBipKJSxYVZGqiQPW5Y6xbIKuhAufm-Bjnac1S9uCgo_2CbFCpt04fPypemcdePlxz-x3Qoek_Rt1K60gFrI7FbFURJlLS2R6sL-wm6FG6yz4sloey_f_givWW2eF5PCdB_Wm_sHcwCv8LG5mt33YON4MMwve9C5-DvotT2RruVnF_mvf_2k6k4 |
| linkProvider | ProQuest |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMw1V1NT9tAEB2hgER76ActIm0oewBxqYW9a6_tQ1VFtIgoECJKVXoy6_GuCqJxStJW_VP9jZ3xB3BA3Dj04IPlD9nepzczu573ADbjCCPJHmGpKpwXRi7wjFbO8xGtSwITO5VXZhPxaJScnqbjBfjb9sLwb5UtJ1ZEXZTIc-Q7kiKRouw-DN5Pf3jsGsWrq62FRg2Lof3zm0q22bvBBxrfLSn3Pp7s7nuNq4CHSgdzLyqQshrrrHPaD9HY0PjGJIHVcUy3xxhps0Xha2NpR9lIpkiFUYK60KhZ6IAofzFksHdgcTw4HH-9ntVhlc1E-bW8kVKpv3PjZjPjNlXp8zTLrRB4dyCootve0__tuzyDJ00eLfo18J_Dgp2swONb6oovYFg1F3tH-UVN6mLAvTBWHBFLfm_aT0XpxJiSYNGaNwlK4sWnb-dT8cVW63LiuMzL-Uv4_CBvswqdSTmxayAi30oVISXKmoo1J9M81DnFkDw3CeZF0AXZDmeGjbA6-3tcZlRgMQayOzDQhbfXF01rXZH7T99mnGTMOnRvNE3zBD0h63dl_ThMK-El3YVei5OsoaNZdgOSV_cf3oDl_ZPDg-xgMBq-hkeSMjpeOpNJDzrzq592HZbw1_x8dvWmQb6As4cG1T9Dtkao |
| linkToPdf | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMw1V1LT9wwEB4hiqpyKFBadSltfaDiQrSJnTjJoUKodNXVomVVQEW9pM7EVkHtZmG3oP41fh0zeQAHxI0DhxyivOPP87A93wewEUcYSdYIS1XhvDBygWe0cp6PaF0SmNipvBKbiIfD5Pg4Hc3BVVsLw8sqW5tYGeqiRB4j70ryRIqi-zDoumZZxGi3tz0581hBimdaWzmNGiID-_-S0rfp5_4utfUnKXtfD7988xqFAQ-VDmZeVCBFONZZ57QforGh8Y1JAqvjmB6FMdJmi8LXxtKOspFMkZKkBHWhUTPpAZn_ZzHlmLyccBT9vBnfYb7NRPk10ZFSqd-91bWZcsGq9HnA5Y4zvN8lVH6ut_SU_9AyvGyia7FTd4cVmLPjV7B4h3NxFQZVybG3n5_Wpl70uULGin2ynX-bolRROjGi0Fi0kk6CQntx8PtkIn7YarZOfC_zcvYajh7la97A_Lgc27cgIt9KFSGFz5pSOCfTPNQ5eZY8NwnmRdAB2TZthg3dOqt-_Mko7WI8ZPfgoQNbNxdNaraRh0_fZMxkbIvo3miakgp6Q2b1ynbiMK3omHQH1lvMZI2Rmma3gFl7-PBHeE5Iyvb6w8E7eCEpzOP5NJmsw_zs_J99Dwt4MTuZnn-ouoCAX4-NqGsLTE4L |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Multi-Objective+Immune+Optimization+of+Path+Planning+for+Ship+Welding+Robot&rft.jtitle=Electronics+%28Basel%29&rft.au=Shen%2C+Yi&rft.au=Gao%2C+Yunqiang&rft.au=Yuan%2C+Mingxin&rft.au=Sun%2C+Hongwei&rft.date=2023-04-28&rft.issn=2079-9292&rft.eissn=2079-9292&rft.volume=12&rft.issue=9&rft.spage=2040&rft_id=info:doi/10.3390%2Felectronics12092040&rft.externalDBID=n%2Fa&rft.externalDocID=10_3390_electronics12092040 |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=2079-9292&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=2079-9292&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=2079-9292&client=summon |