Optimal design of manipulator parameter using evolutionary optimization techniques

Robotica ◽  
2009 ◽  
Vol 28 (3) ◽  
pp. 381-395 ◽  
Author(s):  
B. K. Rout ◽  
R. K. Mittal
Keyword(s):  
Optimal Design ◽  
Differential Evolution ◽  
Dynamic Models ◽  
Optimal Parameter ◽  
Optimization Technique ◽  
Optimization Techniques ◽  
Design Parameters ◽  
Evolutionary Optimization Techniques ◽  
Accuracy And Repeatability ◽  
Uncertainty In Design

SUMMARYA robot must have high positioning accuracy and repeatability for precise applications. However, variations in performance are observed due to the effect of uncertainty in design and process parameters. So far, there has been no attempt to optimize the design parameters of manipulator by which performance variations will be minimum. A modification in differential evolution optimization technique is proposed to incorporate the effect of noises in the optimization process and obtain the optimal design of manipulator, which is insensitive to noises. This approach has been illustrated by selecting optimal parameter of 2-DOF RR planar manipulator and 4-DOF SCARA manipulator. The performance of proposed approach has been compared with genetic algorithm with similar modifications. It is observed that the optimal results are obtained with lesser computations in case of differential evolution technique. This approach is a viable alternative for costly prototype testing, where only kinematic and dynamic models of manipulator are dealt with.

Discrete modular serpentine robotic tail: design, analysis and experimentation

Robotica ◽  
2018 ◽  
Vol 36 (7) ◽  
pp. 994-1018 ◽  
Author(s):  
Wael Saab ◽  
William S. Rone ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Dynamic Models ◽  
Design Analysis ◽  
Degree Of Freedom ◽  
Legged Robots ◽  
Design Parameters ◽  
Inertial Loading ◽  
Forward Kinematic ◽  
The Impact ◽  
Accuracy And Repeatability ◽  
Two Degree Of Freedom

SUMMARYThis paper presents the design, analysis and experimentation of a Discrete Modular Serpentine Tail (DMST). The mechanism is envisioned for use as a robotic tail integrated onto mobile legged robots to provide a means, separate from the legs, to aid stabilization and maneuvering for both static and dynamic applications. The DMST is a modular two-degree-of-freedom (DOF) articulated, under-actuated mechanism, inspired by continuum and serpentine robotic structures. It is constructed from rigid links with cylindrical contoured grooves that act as pulleys to route and maintain equal displacements in antagonistic cable pairs that are connected to a multi-diameter pulley. Spatial tail curvatures are produced by adding a roll-DOF to rotate the bending plane of the planar tail curvatures. Kinematic and dynamic models of the cable-driven mechanism are developed to analyze the impact of trajectory and design parameters on the loading profiles transferred through the tail base. Experiments using a prototype are performed to validate the forward kinematic and dynamic models, determine the mechanism's accuracy and repeatability, and measure the mechanism's ability to generate inertial loading.

Feature Selection in Evolutionary Algorithm-Based Parameter Estimation of Duffing Oscillators

2013 ◽  
Author(s):  
Amit Banerjee ◽  
Issam Abu Mahfouz ◽  
Ma’moun Abu-Ayyad
Keyword(s):  
Parameter Estimation ◽  
Differential Evolution ◽  
Fitness Function ◽  
Optimal Solution ◽  
Optimization Techniques ◽  
Transient Effects ◽  
Finite Sample ◽  
Statistical Parameters ◽  
Swarm Optimization ◽  
Evolutionary Optimization Techniques

The use of evolutionary optimization techniques such as genetic algorithms, differential evolution, swarm optimization and genetic programming to solve the inverse problem of parameter estimation for nonlinear chaotic systems has been gaining popularity in recent years. The efficacy of such evolutionary schemes depends on the definition of a suitable fitness function which is used to compare potential solutions in the population. In almost all research involving evolutionary schemes for parameter identification, displacement values of the first few hundred Poincaré points, after ignoring transient effects, have been used as the feature set. The measured response of the system is compared to the response of the potential solutions in the population over these Poincaré points, although there is no empirical research to show that such a feature set works better than other possible feature sets. In this paper, a smaller feature set based on first and second-order statistical parameters of the response are considered and the estimation results are compared to the estimate produced by using the standard Poincaré points-based feature set, called the finite sample feature set in this paper. Also compared are results using three evolutionary algorithms — firefly algorithm, particle swarm optimization and differential evolution. It has been shown that the proposed feature set converges to a near-optimal solution faster and in fewer generations and produces estimates that are comparable to those obtained with the finite sample feature set.

scholarly journals Design and Optimization of a Dual-Input Coupling Powertrain System: A Case Study for Electric Tractors

2020 ◽  
Vol 10 (5) ◽  
pp. 1608
Author(s):  
Tonghui Li ◽  
Bin Xie ◽  
Zhen Li ◽  
Jiakun Li
Keyword(s):  
Dynamic Models ◽  
Optimal Parameter ◽  
Dynamic Performance ◽  
Energy Utilization ◽  
Utilization Efficiency ◽  
Design Parameters ◽  
Feasible Region ◽  
Energy Management Strategy ◽  
Powertrain System ◽  
Overall Efficiency

In this study, a dual-input coupling powertrain system (DICPS) was proposed to improve the energy utilization efficiency of pure electric tractors (PETs). The working principles of the DICPS under different modes were analyzed and dynamic models were established. To study the influence of changing key parameters in the DICPS on the economic performance of PETs, a parameter-matching design method was proposed and the feasible region of the design parameters was determined according to the tractor’s dynamic performance. In addition, we put forward an energy management strategy (EMS) based on the optimal system efficiency and a dual-motor-driven electric tractor (DMET) model was built in MATLAB/Simulink. The simulation results revealed that different parameter configurations of DICPS will lead to significant changes in overall efficiency, with a maximum difference of 6.6% (under a rotary tillage cycle). We found that the optimal parameter configuration for the DMET under two typical working conditions was PDR = 0.5, k = 1.6. Compared with the single-motor powertrain system (SMPS), the DICPS with the optimal configuration of key parameters can significantly improve overall efficiency by about 9.8% (under a plowing cycle).

scholarly journals Optimal design of tuned mass dampers through differential evolution method for reducing the dynamic response of structures subjected to earthquake loads

ENTRAMADO ◽  
2021 ◽  
Vol 17 (2) ◽  
pp. 244-254
Author(s):  
Daniel Alejandro Caicedo-Díaz ◽  
Luis Augusto Lara-Valencia ◽  
Yamile Valencia-González
Keyword(s):  
Optimal Design ◽  
Dynamic Response ◽  
Differential Evolution ◽  
Selection Process ◽  
Design Parameters ◽  
Tuned Mass Dampers ◽  
Ground Acceleration ◽  
Peak Displacement ◽  
Earthquake Loads

This paper introduces a methodology for the optimal design of passive Tuned Mass Dampers (TMDs) to control the dynamic response of buildings subjected to earthquake loads. The selection process of the optimal design parameters is carried out through a metaheuristic approach based on differential evolution (DE) which is a fast, efficient, and precise technique that does not require high computational efforts. The algorithm is aimed to reduce the maximum horizontal peak displacement of the structure and the root mean square (RMS) response of displacements as well. Furthermore, four more objective functions derived from multiple weighted linear combinations of the two previously mentioned parameters are also studied to obtain the most efficient TMD design configuration. A parallel process based on an exhaustive search (ES) with precision to 2 decimal positions is used to validate the optimization methodology based on DE. The proposed methodology is then applied to a 32-story case-study derived from an actual building structure and subjected to different ground acceleration registers. The best dynamic performance of the building is observed when the greatest weight is given to the RMS response of displacement in the optimization process. Finally, the numerical results reveal that the proposed methodology based on DE is effective in finding the optimal TMD design configuration by reducing the maximum floor displacement up to 4% and RMS values of displacement of up to 52% in the case-study building.

scholarly journals Shakedown strength based parameter optimization technique and its application on designing an airtight module

2021 ◽  
Author(s):  
Songhua Huang ◽  
Yugong Xu ◽  
Lele Zhang ◽  
Geng Chen ◽  
Fuming Zeng ◽  
...  
Keyword(s):  
Optimal Design ◽  
Parameter Optimization ◽  
Optimal Parameter ◽  
Load Capacity ◽  
Effective Means ◽  
Optimization Technique ◽  
Structure Design ◽  
Structure Strength ◽  
Coupling Algorithm ◽  
Gradient Coupling

Abstract Structural optimal design is traditionally performed according to the elastic limit rule which makes the structure overweighted or strength over conservative to an extent. Shakedown theory is implemented in the present study in order to measure load-capacity performance of structure. It can determine the strength of a structure under arbitrary varying loads without loading history where failure form of incremental collapse, ratcheting and alternate plasticity will be avoided. The current research subsequently provides a parameter optimal design scheme with respect to maximum structure strength and strength-to-weight performance in the framework of shakedown which makes the optimal structure design in a relatively practical way. With this motivation, the formula of proposed shakedown limited parameter optimization problem is derived and solved based on genetic-gradient coupling algorithm. The present coupling algorithm is essentially solve a double-loop problem where the inner loop adopt interior point method to solve shakedown problem under a given parameter combination while the outer loop use genetic algorithm to find the optimal parameters based on a given shakedown fitness. In addition, external database technique is applied to accelerate computation and prevent unexpected interrupt. Subsequently, a test example which is a optimal parameter design problem of plate with a circular hole is presented to demonstrate the accuracy and effectiveness of the proposed method and algorithm. In addition, the proposed method is also utilized to determine the optimal load-bearing capacity of a airtight module to be used in a manned spacecraft. Moreover, optimal shakedown load design results of the manned airtight module as well as optimal strength-to-weight efficiency design results are given in the end. This study confirmed that genetic-gradient coupling algorithm is a effective means for determine the optimal parameter in accordance to the shakedown load domain.

Dynamic Reliability-Based Seismic Optimal Design of Base-Isolated Structures

2011 ◽  
Vol 243-249 ◽  
pp. 3765-3769 ◽  
Author(s):  
Tian Li Huang ◽  
Wei Xin Ren
Keyword(s):  
Optimal Design ◽  
Seismic Design ◽  
Governing Equation ◽  
Optimization Technique ◽  
Design Parameters ◽  
Penalty Function Method ◽  
Isolation System ◽  
Dynamic Reliability ◽  
Isolated Structures ◽  
Reliability Based Optimization

This paper presents a dynamic reliability-based optimization technique for the seismic design of base-isolated structures. Firstly, the governing equation of multi-degree-of-freedom base-isolated structures is established. Then, the superstructure is unfolded by the first mode. Considering that the damping is non-classical and the total base-isolation system is un-symmetric, the complex modal analysis is adopted to uncouple the governing equation and the analytical solutions of stochastic seismic response under the Kanai-Tajimi spectrum loading are obtained. Taking the ratio between the first-order modal displacement standard deviation of the superstructure with base- isolated system and the fixed-base structure as the optimal objective function, the dynamic reliability of the isolated system displacement as the constraint, the optimal design parameters of the isolated system are obtained through the penalty function method. A 3-story building with isolated system illustrates the proposed dynamic reliability-based optimization method. It is believed that such an optimization technique provides an effective tool for the seismic design of base-isolated structures.

Opposition-based differential evolution for IIR system identification problem

2014 ◽  
Vol 05 (04) ◽  
pp. 1450016 ◽  
Author(s):  
P. Upadhyay ◽  
R. Kar ◽  
D. Mandal ◽  
S. P. Ghoshal
Keyword(s):  
System Identification ◽  
Differential Evolution ◽  
Fitness Function ◽  
Optimization Technique ◽  
Real Life ◽  
Identification Problem ◽  
Evolutionary Optimization ◽  
Convergence Speed ◽  
Optimization Techniques ◽  
Infinite Impulse Response

Nature inspired optimization algorithms have made substantial step towards solving of various engineering and scientific real-life problems. Success achieved for those evolutionary optimization techniques are due to simplicity and flexibility of algorithm structures. In this paper, optimal set of filter coefficients are searched by the evolutionary optimization technique called Opposition-based Differential Evolution (ODE) for solving infinite impulse response (IIR) system identification problem. Opposition-based numbering concept is embedded into the primary foundation of Differential Evolution (DE) technique metaphorically to enhance the convergence speed and the performance for finding the optimal solution. The population is generated with the evaluation of a solution and its opposite solution by fitness function for choosing potent solutions for each iteration cycle. With this competent population, faster convergence speed and better solution quality are achieved. Detailed and balanced search in multidimensional problem space is accomplished with judiciously chosen control parameters for mutation, crossover and selection adopted in the basic DE technique. When tested against standard benchmark examples, for same order and reduced order models, the simulation results establish the ODE as a competent candidate to others in terms of accuracy and convergence speed.

Vibration Reduction by Optimal Design of Powertrain Mounting System of Heavy Truck Based on SQP Method

2012 ◽  
Vol 625 ◽  
pp. 121-124
Author(s):  
Hui Jing ◽  
Cong Li ◽  
Fu Yun Liu ◽  
Bing Kuang
Keyword(s):  
Optimal Design ◽  
Quadratic Programming ◽  
Vibration Control ◽  
Sequential Quadratic Programming ◽  
Optimization Technique ◽  
Vibration Reduction ◽  
Optimization Techniques ◽  
Sqp Method ◽  
Heavy Truck

Heavy truck needs to use the vibration reduction technology to improve its quality. Nowadays, it is a useful and effective way for vibration reduction that by employing the proper Powertrain Mounting Systems (PMS) to reduce the vibration. One useful method to develop more effective mounting systems is through optimization techniques. Sequential Quadratic Programming (SQP) is an effective optimization technique. In this paper, design optimization of powertrain mounting system based on SQP method for vibration control is presented. The optimization objective is to find the highest decoupling ratio of the each mount while selecting the stiffness and orientations of individual mount. The constraints are imposed to keep the desired decoupled ratio in each orientation and the frequency corresponding to the decoupled ratio. A case study is given to validate the proposed method. The result shows that the value of optimized system, such as decoupling ratio, is improved significantly. Therefore, the method proposed in this paper is effective for the optimization of powertrain mounting system.

scholarly journals Shakedown strength based parameter optimization technique and its application on designing an airtight module

2021 ◽  
Author(s):  
Songhua Huang ◽  
Yugong Xu ◽  
Lele Zhang ◽  
Geng Chen ◽  
Fuming Zeng ◽  
...  
Keyword(s):  
Optimal Design ◽  
Parameter Optimization ◽  
Optimal Parameter ◽  
Load Capacity ◽  
Effective Means ◽  
Optimization Technique ◽  
Structure Design ◽  
Structure Strength ◽  
Coupling Algorithm ◽  
Gradient Coupling

Abstract Structural optimal design is traditionally performed according to the elastic limit rule which makes the structure overweighted or strength over conservative to an extent. Shakedown theory is implemented in the present study in order to measure load-capacity performance of structure. It can determine the strength of a structure under arbitrary varying loads without loading history where failure form of incremental collapse, ratcheting and alternate plasticity will be avoided. The current research subsequently provides a parameter optimal design scheme with respect to maximum structure strength and strength-to-weight performance in the framework of shakedown which makes the optimal structure design in a relatively practical way. With this motivation, the formula of proposed shakedown limited parameter optimization problem is derived and solved based on genetic-gradient coupling algorithm. The present coupling algorithm is essentially solve a double-loop problem where the inner loop adopt interior point method to solve shakedown problem under a given parameter combination while the outer loop use genetic algorithm to find the optimal parameters based on a given shakedown fitness. In addition, external database technique is applied to accelerate computation and prevent unexpected interrupt. Subsequently, a test example which is a optimal parameter design problem of plate with a circular hole is presented to demonstrate the accuracy and effectiveness of the proposed method and algorithm. In addition, the proposed method is also utilized to determine the optimal load-bearing capacity of a airtight module to be used in a manned spacecraft. Moreover, optimal shakedown load design results of the manned airtight module as well as optimal strength-to-weight efficiency design results are given in the end. This study confirmed that genetic-gradient coupling algorithm is a effective means for determine the optimal parameter in accordance to the shakedown load domain.

Justification of design parameters of the fractional reaping conveyor and its devices for removal of beveled stems from under the wheels of the vehicle

2019 ◽  
Vol 1 (3) ◽  
pp. 1-10
Author(s):  
Mikhail M. Konstantinov ◽  
Ivan N. Glushkov ◽  
Sergey S. Pashinin ◽  
Igor I. Ognev ◽  
Tatyana V. Bedych
Keyword(s):  
Optimal Design ◽  
Technological Process ◽  
Design Parameters ◽  
Theoretical Studies ◽  
Optimal Parameters ◽  
Belt Conveyor ◽  
Grain Crops ◽  
Mode Of Operation ◽  
Optimal Values ◽  
Main Component

In this paper we consider the structural and technological process of the combine used in the process of separate harvesting of grain crops, as well as a number of its parameters. Among the main units of the combine, we allocate a conveyor and devices for removing beveled stems from under the wheels of the vehicle. The principle of operation of the conveyor at different phases of the Reaper and especially the removal of cut stems from under the wheels of the vehicle during operation of the Reaper. The results of theoretical studies on the establishment of the optimal design of the parameters of the belt conveyor are presented, the ranges of their optimal values are considered and determined. Studies on the establishment of optimal parameters of the screw divider in the Reaper, which is the main component of the device for removal of beveled stems, are presented. Taking into account the optimal design and mode of operation of the screw divider, the correct work is provided to remove the cut stems from under the wheels of the harvester.

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