Multimodal transportation is a modern way of cargo transportation. With the increasing demand for cargo transportation, higher requirements are being placed on multimodal transportation multi-objective routing optimization. In multimodal transportation multi-objective routing optimization, in response to the limitations of classical algorithms in solving large-scale problems with multiple nodes and modes of transport, the limitations of directed transportation networks in the application, and the uncertainty of transport time, this paper proposes an optimization framework based on multi-objective weighted sum Q-learning, combined with the proposed undirected multiple-node network, and characterizes the uncertainty of time with a positively skewed distribution. The undirected multiple-node transportation network can better simulate cargo transportation and characterize transfer information, facilitate the modification of origin and destination, and avoid suboptimal solutions due to the manual setting of wrong route directions. The network is combined with weighted sum Q-learning to solve multimodal transportation multi-objective routing optimization problems faster and better. When modeling the uncertainty of transport time, a positively skewed distribution is used. The three objectives of transport cost, carbon emission cost, and transport time were studied and compared with PSO, GA, AFO, NSGA-II, and MOPSO. The experimental results show that compared with PSO, GA, and AFO using a directed transportation network, the proposed method has a significant improvement in optimization results and running time, and the running time is shortened by 26 times. The proposed method can better solve the boundary of the Pareto front and dominate the partial solutions of NSGA-II and MOPSO. The effect of time uncertainty on the performance of the algorithm is more significant in transport orders with high time weight. With the increase in uncertainty, the reliability of the route decreases. The effectiveness of the proposed method is verified.

Aiming at the problem of multimodal transport path planning under uncertain environments, this paper establishes a multi-objective fuzzy nonlinear programming model considering mixed-time window constraints by taking cost, time, and carbon emission as optimization objectives. To solve the model, the model is de-fuzzified by the fuzzy expectation value method and fuzzy chance-constrained planning method. Combining the game theory method with the weighted sum method, a cooperative game theory-based multi-objective optimization method is proposed. Finally, the effectiveness of the algorithm is verified in a real intermodal network. The experimental results show that the proposed method can effectively improve the performance of the weighted sum method and obtain the optimal multimodal transport path that satisfies the time window requirement, and the path optimization results are better than MOPSO and NSGA-II, effectively reducing transportation costs and carbon emissions. Meanwhile, the influence of uncertainty factors on the multimodal transport route planning results is analyzed. The results show that the uncertain factors will significantly increase the transportation cost and carbon emissions and affect the choice of route and transportation mode. Considering uncertainty factors can increase the reliability of route planning results and provide a more robust and effective solution for multimodal transportation.

To improve the processing quality and efficiency of robotic belt grinding, an adaptive sliding-mode iterative constant-force control method for a 6-DOF robotic belt grinding platform is proposed based on a one-dimension force sensor. In the investigation, first, the relationship between the normal and the tangential forces of the grinding contact force is revealed, and a simplified grinding force mapping relationship is presented for the application to one-dimension force sensors. Next, the relationship between the deformation and the grinding depth during the grinding is discussed, and a deformation-based dynamic model describing robotic belt grinding is established. Then, aiming at an application scene of robot belt grinding, an adaptive iterative learning method is put forward, which is combined with sliding mode control to overcome the uncertainty of the grinding force and improve the stability of the control system. Finally, some experiments were carried out and the results show that, after ten times iterations, the grinding force fluctuation becomes less than 2N, the mean value, standard deviation and variance of the grinding force error’s absolute value all significantly decrease, and that the surface quality of the machined parts significantly improves. All these demonstrate that the proposed force control method is effective and that the proposed algorithm is fast in convergence and strong in adaptability.