Application of statistical techniques in modeling and optimization of a snake robot

Robotica ◽  
2012 ◽  
Vol 31 (4) ◽  
pp. 623-641 ◽  
Author(s):  
Hadi Kalani ◽  
Alireza Akbarzadeh ◽  
Hossein Bahrami
Keyword(s):  
Energy Consumption ◽  
Statistical Design ◽  
Optimization Techniques ◽  
Design Parameters ◽  
Snake Robot ◽  
Robot Performance ◽  
And Performance ◽  
Development Analysis ◽  
Curvilinear Regression ◽  
Range Of Values

SUMMARYThis paper provides a general framework based on statistical design and Simulated Annealing (SA) optimization techniques for the development, analysis, and performance evaluation of forthcoming snake robot designs. A planar wheeled snake robot is considered, and the effect of its key design parameters on its performance while moving in serpentine locomotion is investigated. The goal is to minimize energy consumption and maximize distance traveled. Key kinematic and dynamic parameters as well as their corresponding range of values are identified. Derived dynamic and kinematic equations of n-link snake robot are used to perform simulation. Experimental design methodology is used for design characterization. Data are collected as per full factorial design. For both energy consumption and distance traveled, logarithmic, linear, and curvilinear regression models are generated and the best models are selected. Using analysis of variance, ANOVA, effects of parameters on performance of robots are determined. Next, using SA, optimum parameter levels of robots with different number of links to minimize energy consumption and maximize distance traveled are determined. Both single and multi-criteria objectives are considered. Webots and Matlab SimMechanics software are used to validate theoretical results. For the mathematical model and the selected range of values considered, results indicate that the proposed approach is quite effective and efficient in optimization of robot performance. This research extends the present knowledge in this field by identifying additional parameters having significant effect on snake robot performance.

scholarly journals Mobility-Included DNN Partition Offloading from Mobile Devices to Edge Clouds

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 229
Author(s):  
Xianzhong Tian ◽  
Juan Zhu ◽  
Ting Xu ◽  
Yanjun Li
Keyword(s):  
Neural Networks ◽  
Energy Consumption ◽  
Mobile Devices ◽  
Wireless Network ◽  
Deep Neural Networks ◽  
Mobile User ◽  
Computation Offloading ◽  
Long Latency ◽  
Total Latency ◽  
And Performance

The latest results in Deep Neural Networks (DNNs) have greatly improved the accuracy and performance of a variety of intelligent applications. However, running such computation-intensive DNN-based applications on resource-constrained mobile devices definitely leads to long latency and huge energy consumption. The traditional way is performing DNNs in the central cloud, but it requires significant amounts of data to be transferred to the cloud over the wireless network and also results in long latency. To solve this problem, offloading partial DNN computation to edge clouds has been proposed, to realize the collaborative execution between mobile devices and edge clouds. In addition, the mobility of mobile devices is easily to cause the computation offloading failure. In this paper, we develop a mobility-included DNN partition offloading algorithm (MDPO) to adapt to user’s mobility. The objective of MDPO is minimizing the total latency of completing a DNN job when the mobile user is moving. The MDPO algorithm is suitable for both DNNs with chain topology and graphic topology. We evaluate the performance of our proposed MDPO compared to local-only execution and edge-only execution, experiments show that MDPO significantly reduces the total latency and improves the performance of DNN, and MDPO can adjust well to different network conditions.

scholarly journals A modular design method based on TRIZ and AD and its application to cutter changing robot

2021 ◽  
Vol 13 (7) ◽  
pp. 168781402110343
Author(s):  
Mei Yang ◽  
Yimin Xia ◽  
Lianhui Jia ◽  
Dujuan Wang ◽  
Zhiyong Ji
Keyword(s):  
Modular Design ◽  
Design Method ◽  
Idea Generation ◽  
Design Parameters ◽  
Problem Analysis ◽  
Concept Design ◽  
Functional Requirements ◽  
Shield Tunneling ◽  
Structural Hierarchy ◽  
And Performance

Modular design, Axiomatic design (AD) and Theory of inventive problem solving (TRIZ) have been increasingly popularized in concept design of modern mechanical product. Each method has their own advantages and drawbacks. The benefit of modular design is reducing the product design period, and AD has the capability of problem analysis, while TRIZ’s expertise is innovative idea generation. According to the complementarity of these three approaches, an innovative and systematic methodology is proposed to design big complex mechanical system. Firstly, the module partition is executed based on scenario decomposition. Then, the behavior attributes of modules are listed to find the design contradiction, including motion form, spatial constraints, and performance requirements. TRIZ tools are employed to deal with the contradictions between behavior attributes. The decomposition and mapping of functional requirements and design parameters are carried out to construct the structural hierarchy of each module. Then, modules are integrated considering the connections between each other. Finally, the operation steps in application scenario are designed in temporal and spatial dimensions. Design of cutter changing robot for shield tunneling machine is taken as an example to validate the feasibility and effectiveness of the proposed method.

scholarly journals Power and Performance Evaluation of Memory-Intensive Applications

Energies ◽  
2021 ◽  
Vol 14 (14) ◽  
pp. 4089
Author(s):  
Kaiqiang Zhang ◽  
Dongyang Ou ◽  
Congfeng Jiang ◽  
Yeliang Qiu ◽  
Longchuan Yan
Keyword(s):  
Energy Efficiency ◽  
Energy Consumption ◽  
Power Consumption ◽  
Job Scheduling ◽  
Memory System ◽  
Processor Core ◽  
Memory Efficiency ◽  
And Performance ◽  
Reasonable Use ◽  
Server System

In terms of power and energy consumption, DRAMs play a key role in a modern server system as well as processors. Although power-aware scheduling is based on the proportion of energy between DRAM and other components, when running memory-intensive applications, the energy consumption of the whole server system will be significantly affected by the non-energy proportion of DRAM. Furthermore, modern servers usually use NUMA architecture to replace the original SMP architecture to increase its memory bandwidth. It is of great significance to study the energy efficiency of these two different memory architectures. Therefore, in order to explore the power consumption characteristics of servers under memory-intensive workload, this paper evaluates the power consumption and performance of memory-intensive applications in different generations of real rack servers. Through analysis, we find that: (1) Workload intensity and concurrent execution threads affects server power consumption, but a fully utilized memory system may not necessarily bring good energy efficiency indicators. (2) Even if the memory system is not fully utilized, the memory capacity of each processor core has a significant impact on application performance and server power consumption. (3) When running memory-intensive applications, memory utilization is not always a good indicator of server power consumption. (4) The reasonable use of the NUMA architecture will improve the memory energy efficiency significantly. The experimental results show that reasonable use of NUMA architecture can improve memory efficiency by 16% compared with SMP architecture, while unreasonable use of NUMA architecture reduces memory efficiency by 13%. The findings we present in this paper provide useful insights and guidance for system designers and data center operators to help them in energy-efficiency-aware job scheduling and energy conservation.

scholarly journals Analysis of Composite Structures in Curing Process for Shape Deformations and Shear Stress: Basis for Advanced Optimization

2021 ◽  
Vol 5 (2) ◽  
pp. 63
Author(s):  
Niraj Kumbhare ◽  
Reza Moheimani ◽  
Hamid Dalir
Keyword(s):  
Composite Structures ◽  
Latin Hypercube Sampling ◽  
Vital Role ◽  
Optimization Techniques ◽  
Design Parameters ◽  
Curing Process ◽  
Input Variables ◽  
Transient Thermal ◽  
Prototype Design ◽  
Shape Deformations

Identifying residual stresses and the distortions in composite structures during the curing process plays a vital role in coming up with necessary compensations in the dimensions of mold or prototypes and having precise and optimized parts for the manufacturing and assembly of composite structures. This paper presents an investigation into process-induced shape deformations in composite parts and structures, as well as a comparison of the analysis results to finalize design parameters with a minimum of deformation. A Latin hypercube sampling (LHS) method was used to generate the required random points of the input variables. These variables were then executed with the Ansys Composite Cure Simulation (ACCS) tool, which is an advanced tool used to find stress and distortion values using a three-step analysis, including Ansys Composite PrepPost, transient thermal analysis, and static structural analysis. The deformation results were further utilized to find an optimum design to manufacture a complex composite structure with the compensated dimensions. The simulation results of the ACCS tool are expected to be used by common optimization techniques to finalize a prototype design so that it can reduce common manufacturing errors like warpage, spring-in, and distortion.

Tolerance Analysis of a Robot Manipulator Having Uncertainties in Joint Clearance and Axis Orientation

2007 ◽  
Author(s):  
Dong Hwan Choi ◽  
Se Jeong Lee ◽  
Jonathan A. Wickert ◽  
Hong Hee Yoo
Keyword(s):  
Robot Manipulator ◽  
Statistical Design ◽  
Tolerance Analysis ◽  
Joint Clearance ◽  
Design Parameters ◽  
Positional Error ◽  
Link Length ◽  
Axis Orientation ◽  
Manufacturing Tolerances ◽  
Clearance Model

The operating positional error of a robot manipulator, which develops inevitably because of manufacturing tolerances and assembly clearances, is preferentially maintained within a certain range in order to achieve an acceptable level of performance and accuracy. Because additional cost is incurred when manufacturing tolerances are tightened, an alternative design strategy maximizes the tolerances (so as to reduce the cost) while minimizing positioning error (to satisfy a performance requirement). In this paper, a new joint clearance model is developed for spatial mechanisms that incorporate revolute joints, which in turn are subjected to specified tolerance or uncertainty in the orientation of their axes. Statistical design parameters related to variations of link length and joint axis orientation are identified from the clearance model. The statistical influence of the design parameters on the robot manipulator’s response is investigated through a general multibody dynamics sensitivity formulation. The method offers substantial improvement in computational efficiency when compared to the Monte Carlo procedure. The uncertainty in orientation of a revolute joint’s axis influences the positioning accuracy of the robot manipulator’s response to a greater degree than does uncertainty in the length of a link.

Configuration Robustness Analysis of the Optimal Design of Cable-Driven Manipulators

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Joshua T. Bryson ◽  
Xin Jin ◽  
Sunil K. Agrawal
Keyword(s):  
Optimal Design ◽  
Stochastic Optimization ◽  
High Dimension ◽  
Degrees Of Freedom ◽  
Robustness Analysis ◽  
Optimal Solution ◽  
Design Parameters ◽  
Robot Leg ◽  
Robot Performance

Designing an effective cable architecture for a cable-driven robot becomes challenging as the number of cables and degrees of freedom of the robot increase. A methodology has been previously developed to identify the optimal design of a cable-driven robot for a given task using stochastic optimization. This approach is effective in providing an optimal solution for robots with high-dimension design spaces, but does not provide insights into the robustness of the optimal solution to errors in the configuration parameters that arise in the implementation of a design. In this work, a methodology is developed to analyze the robustness of the performance of an optimal design to changes in the configuration parameters. This robustness analysis can be used to inform the implementation of the optimal design into a robot while taking into account the precision and tolerances of the implementation. An optimized cable-driven robot leg is used as a motivating example to illustrate the application of the configuration robustness analysis. Following the methodology, the effect on robot performance due to design variations is analyzed, and a modified design is developed which minimizes the potential performance degradations due to implementation errors in the design parameters. A robot leg is constructed and is used to validate the robustness analysis by demonstrating the predicted effects of variations in the design parameters on the performance of the robot.

scholarly journals Multi-Objective Optimization of Switched Reluctance Machine Design Using Jaya Algorithm (MO-Jaya)

Mathematics ◽  
2021 ◽  
Vol 9 (10) ◽  
pp. 1107
Author(s):  
Mohamed Afifi ◽  
Hegazy Rezk ◽  
Mohamed Ibrahim ◽  
Mohamed El-Nemr
Keyword(s):  
Optimization Techniques ◽  
Design Parameters ◽  
Jaya Algorithm ◽  
Switched Reluctance Machine ◽  
Nsga Ii ◽  
Switched Reluctance ◽  
Multi Objective ◽  
Reluctance Machine ◽  
Linear Relationships ◽  
Forward Equations

The switched reluctance machine (SRM) design is different from the design of most of other machines. SRM has many design parameters that have non-linear relationships with the performance indices (i.e., average torque, efficiency, and so forth). Hence, it is difficult to design SRM using straight forward equations with iterative methods, which is common for other machines. Optimization techniques are used to overcome this challenge by searching for the best variables values within the search area. In this paper, the optimization of SRM design is achieved using multi-objective Jaya algorithm (MO-Jaya). In the Jaya algorithm, solutions are moved closer to the best solution and away from the worst solution. Hence, a good intensification of the search process is achieved. Moreover, the randomly changed parameters achieve good search diversity. In this paper, it is suggested to also randomly change best and worst solutions. Hence, better diversity is achieved, as indicated from results. The optimization with the MO-Jaya algorithm was made for 8/6 and 6/4 SRM. Objectives used are the average torque, efficiency, and iron weight. The results of MO-Jaya are compared with the results of the non-dominated sorting genetic algorithm (NSGA-II) for the same conditions and constraints. The optimization program is made in Lua programming language and executed by FEMM4.2 software. The results show the success of the approach to achieve better objective values, a broad search, and to introduce a variety of optimal solutions.

COMPLEX METHODOLOGY FOR CALCULATING THE OPTIMAL PARAMETERS OF THE HEAT RECOVERY SYSTEM OF A BOILER PLANT

2017 ◽  
Author(s):  
Nataliia Fialko ◽  
◽  
Alla Stepanova ◽  
Raisa Navrodskaia ◽  
Svetlana Shevchuk ◽  
...  
Keyword(s):  
Heat Recovery ◽  
Optimization Techniques ◽  
Planning Theory ◽  
Design Parameters ◽  
Optimal Parameters ◽  
Multilevel Optimization ◽  
Boiler Plant ◽  
Experimental Planning ◽  
Recovery System ◽  
Heat Recovery System

The results of optimizing the parameters of the heat recovery system of a boiler plant designed to heat return water are presented. The feasibility of using a technique that combines methods of exergy analysis experimental planning theory and multilevel optimization to optimize plant parameters is analyzed. It is emphasized that the efficiency of heat recovery systems optimized using the above technique is 2-3% higher than the efficiency of systems optimized using other optimization techniques. In addition, the specified method allows to take into account a significant part of the technical losses in the heat recovery system and to optimize a large number of parameters. The main stages of a comprehensive methodology are given. At each stage, the above methods are used to develop mathematical models and obtain dependences of exergy efficiency criteria on the parameters of the heat recovery system. The results of calculating the optimum values of operating and design parameters for the considered heat recovery system of the boiler unit are presented.

Implementing the Mechanistic–Empirical Design Guide Procedure for a Hot-Mix Asphalt–Rehabilitated Pavement in Indiana

2005 ◽  
Vol 1919 (1) ◽  
pp. 121-133 ◽  
Author(s):  
Khaled A. Galal ◽  
Ghassan R. Chehab
Keyword(s):  
Hot Mix Asphalt ◽  
Pavement Design ◽  
Design Parameters ◽  
Design Procedures ◽  
Design Concepts ◽  
Asphalt Overlay ◽  
Design Guide ◽  
Strategic Goals ◽  
And Performance

One of the Indiana Department of Transportation's (INDOT's) strategic goals is to improve its pavement design procedures. This goal can be accomplished by fully implementing the 2002 mechanistic–empirical (M-E) pavement design guide (M-E PDG) once it is approved by AASHTO. The release of the M-E PDG software has provided a unique opportunity for INDOT engineers to evaluate, calibrate, and validate the new M-E design process. A continuously reinforced concrete pavement on I-65 was rubblized and overlaid with a 13–in.-thick hot-mix asphalt overlay in 1994. The availability of the structural design, material properties, and climatic and traffic conditions, in addition to the availability of performance data, provided a unique opportunity for comparing the predicted performance of this section using the M-E procedure with the in situ performance; calibration efforts were conducted subsequently. The 1993 design of this pavement section was compared with the 2002 M-E design, and performance was predicted with the same design inputs. In addition, design levels and inputs were varied to achieve the following: ( a) assess the functionality of the M-E PDG software and the feasibility of applying M-E design concepts for structural pavement design of Indiana roadways, ( b) determine the sensitivity of the design parameters and the input levels most critical to the M-E PDG predicted distresses and their impact on the implementation strategy that would be recommended to INDOT, and ( c) evaluate the rubblization technique that was implemented on the I-65 pavement section.

The Effects of Window Film on the Performance of Window System

2014 ◽  
Vol 525 ◽  
pp. 408-411
Author(s):  
Min Seon Jang ◽  
Gyeong Seok Choi ◽  
Jae Sik Kang ◽  
Yumin Kim
Keyword(s):  
Energy Consumption ◽  
Cooling Load ◽  
Indoor Temperature ◽  
Heating And Cooling ◽  
Window System ◽  
Window Systems ◽  
Clear Glass ◽  
Window Film ◽  
And Performance ◽  
Heating And Cooling Load

Window film is generally attached the glazing in buildings to improve the thermal performance of the window system by addressing a range of problems such as indoor temperature rise, indoor temperature imbalance, degraded heating and cooling load due to excessive influx of solar radiation. To evaluate the performance of window films, window films are attached to 3mm or 6mm clear glass. However, window films are generally used on existing window systems for reducing the annual energy consumption. Therefore it is necessary to evaluate the performance of window films depending on the performance of glazing such as clear double glazing or low-e double glazing. Thus the purpose of this study is to analyze the performance of window systems when window film is attached. As a result, in the case of applying window films for reducing the SHGC of buildings, it is necessary to select window films suitable for the configuration and performance of the glazing to be installed, considering the SHGC of the entire glazing system.

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