A memetic algorithm approach for solving the task-based configuration optimization problem in serial modular and reconfigurable robots

Robotica ◽  
2014 ◽  
Vol 34 (9) ◽  
pp. 1979-2008 ◽  
Author(s):  
Saleh Tabandeh ◽  
William Melek ◽  
Mohammad Biglarbegian ◽  
Seong-hoon Peter Won ◽  
Chris Clark
Keyword(s):  
Multiple Solutions ◽  
Inverse Kinematics ◽  
Optimization Problem ◽  
Memetic Algorithm ◽  
Optimization Method ◽  
Spatial Task ◽  
Search Method ◽  
Configuration Optimization ◽  
Reconfigurable Robots

SUMMARYThis paper presents a novel configuration optimization method for multi degree-of-freedom modular reconfigurable robots (MRR) using a memetic algorithm (MA) that combines genetic algorithms (GAs) and a local search method. The proposed method generates multiple solutions to the inverse kinematics (IK) problem for any given spatial task and the MA chooses the most suitable configuration based on the search objectives. Since the dimension of each robotic link in this optimization is considered telescopic, the proposed method is able to find better solutions to the IK problem than GAs. The case study for a 3-DOF MRR shows that the MA finds solutions to the IK problem much faster than a GA with noticeably less reachability error. Additional case studies show that the proposed MA method can find multiple IK solutions in various scenarios and identify the fittest solution as a suboptimal configuration for the MRR.

Research on Optimization of Ground-Coupled Heat Pump Systems under Specific Constraint Conditions

2014 ◽  
Vol 953-954 ◽  
pp. 673-679
Author(s):  
Yang Yang Wang ◽  
Ping Fang Hu ◽  
Fei Lei ◽  
Na Zhu ◽  
Tian Hua Wu ◽  
...  
Keyword(s):  
Heat Pump ◽  
Optimization Problem ◽  
Design Method ◽  
Optimization Method ◽  
Simulation Software ◽  
Design Parameters ◽  
Decision Variable ◽  
Economic Optimization ◽  
Ground Coupled Heat Pump

A design method for ground-coupled heat pump (GCHP) systems with specific constraint conditions is proposed. The total borehole number, borehole depth, borehole space and average velocity of fluid in the U-tube are considered as variables in the optimization problem. The optimization problem of four variables is transformed into that of single decision variable. A case study, which includes different schemes for designing GCHP systems of an office building and the corresponding economic analysis, is performed with the aid of simulation software. The result shows that optimal design parameters could be found in an economic optimization problem with specific constraint conditions. Additionally, design parameters may have a notable influence on the energy consumption of circulating pumps. The optimization method in this paper could be utilized by engineering designers for reference.

Improving the Robustness of Adjoint-Based Airfoil Drag Reduction Design

2013 ◽  
Vol 444-445 ◽  
pp. 259-263
Author(s):  
Yan Hong Fan
Keyword(s):  
Drag Reduction ◽  
Optimization Design ◽  
Line Search ◽  
Optimization Problem ◽  
Design Method ◽  
Optimization Method ◽  
Search Method ◽  
Linear Search

The effect of steps in the line search on the consistence of adjoint-based drag reduction of airfoil is investigated in this paper. Constant step adopted in drag reduction design usually gives different optimization results and choice of constant step often depends on designers experience and optimization problem. Bracket method is applied to automatically give the optimal step in performing drag reduction design of airfoils RAE2822 and S73613 and the consistent optimal results are obtained. The results illustrate that the linear search method can automatically find the optimal step, and overcome the restriction on choice of user-defined constant step which is used in the traditional adjoint-based optimization method. That is, it reduces the dependence of step in the drag reduction design, and improves the robustness of the adjoint-based airfoil drag reduction optimization design method.

scholarly journals Sensor Networks Hierarchical Optimization Model for Security Monitoring in High-Speed Railway Transport Hub

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Zhengyu Xie ◽  
Yong Qin
Keyword(s):  
Sensor Networks ◽  
Optimization Model ◽  
High Speed ◽  
Optimization Problem ◽  
Optimization Method ◽  
Hierarchical Optimization ◽  
Railway Transport ◽  
High Speed Railway ◽  
Security Monitoring

We consider the sensor networks hierarchical optimization problem in high-speed railway transport hub (HRTH). The sensor networks are optimized from three hierarchies which are key area sensors optimization, passenger line sensors optimization, and whole area sensors optimization. Case study on a specific HRTH in China showed that the hierarchical optimization method is effective to optimize the sensor networks for security monitoring in HRTH.

Calibration of Modular Reconfigurable Robots Based on a Hybrid Search Method

2010 ◽  
Vol 132 (6) ◽  
Author(s):  
Yu Lin ◽  
Fengfeng Xi ◽  
Richard Phillip Mohamed ◽  
Xiao-wei Tu
Keyword(s):  
Genetic Algorithm ◽  
Monte Carlo ◽  
Monte Carlo Method ◽  
Configuration Space ◽  
Global Solutions ◽  
Search Method ◽  
Hybrid Search ◽  
Reconfigurable Robots ◽  
Genetic Algorithm Method

Developed in this paper is a hybrid method for calibration of modular reconfigurable robots (MRRs). The underlying problem under study is unique to MRRs, that is, how to calibrate a set of MRR’s geometric parameters that are applicable to all feasible configurations. For this reason, a hybrid search method is developed to ensure a global search over the MRRs’ workspace for each feasible configuration. By combining a genetic algorithm method with a Monte Carlo method, this method includes three levels of search, namely, pose, workspace, and configuration-space. The final set of global solutions is generated progressively from the results of these three levels of search. The effectiveness of this method is demonstrated through a case study.

Locomotion speed capability analysis of six-legged robots: Optimization and application

2021 ◽  
pp. 095440622098111
Author(s):  
Zhijun Chen ◽  
Yuan Tian ◽  
Feng Gao ◽  
Jimu Liu
Keyword(s):  
Inverse Kinematics ◽  
Optimization Problem ◽  
Walking Speed ◽  
Optimization Method ◽  
Legged Robots ◽  
Key Performance Index ◽  
Influence Coefficients ◽  
Capability Analysis ◽  
Locomotion Speed ◽  
The Stability

Locomotion speed is a key performance index of legged robots. However, methods to analyze and improve the locomotion speed capability are seldom developed, especially for six-legged robots. This paper develops a method to analyze and improve the omnidirectional walking speed and the turning speed of six-legged robots. The models of the inverse kinematics and the influence coefficients are built. Making use of the only-position-related property of the influence coefficients, a general optimization model of the locomotion trajectory is established. A two-step optimization method is introduced to solve the optimization problem. Based on the optimization, a comprehensive speed capability analysis is conducted on both omnidirectional walking and turning of the six-parallel-legged robot. The results clearly show the relationships among the speed capability, the walking direction and the duty cycle. The two-step optimization method improves the speed capability by 12.4%–13.2% for turning and 18.5%–20.5% for omnidirectional walking. Finally, the costs of the speed improvement are analyzed, including the stability, the energy consumption and the calculation time.

An Overview of Risk-Based EEE Counterfeit Part Detection Based on SAE AS6171

2018 ◽  
Author(s):  
Michael H. Azarian
Keyword(s):  
Risk Assessment ◽  
Multiple Solutions ◽  
Test Equipment ◽  
Assessment Methodology ◽  
Test Plan ◽  
Specific Test ◽  
Risk Assessment Methodology

Abstract As counterfeiting techniques and processes grow in sophistication, the methods needed to detect these parts must keep pace. This has the unfortunate effect of raising the costs associated with managing this risk. In order to ensure that the resources devoted to counterfeit detection are commensurate with the potential effects and likelihood of counterfeit part usage in a particular application, a risk based methodology has been adopted for testing of electrical, electronic, and electromechanical (EEE) parts by the SAE AS6171 set of standards. This paper provides an overview of the risk assessment methodology employed within AS6171 to determine the testing that should be utilized to manage the risk associated with the use of a part. A scenario is constructed as a case study to illustrate how multiple solutions exist to address the risk for a particular situation, and the choice of any specific test plan can be made on the basis of practical considerations, such as cost, time, or the availability of particular test equipment.

The Improvement of Newton Method and the Validation of Optimization Idea of Blind Walking Repeatedly

2011 ◽  
Vol 250-253 ◽  
pp. 4061-4064
Author(s):  
Chun Ling Zhang
Keyword(s):  
Saddle Point ◽  
Newton Method ◽  
Optimization Problem ◽  
Initial Point ◽  
Optimization Method ◽  
Maximum Point ◽  
Optimal Result ◽  
Feasible Domain ◽  
Parallel Arithmetic ◽  
Newton Direction

The existence of maximum point, oddity point and saddle point often leads to computation failure. The optimization idea is based on the reality that the optimum towards the local minimum related the initial point. After getting several optimal results with different initial point, the best result is taken as the final optimal result. The arithmetic improvement of multi-dimension Newton method is improved. The improvement is important for the optimization method with grads convergence rule or searching direction constructed by grads. A computational example with a saddle point, maximum point and oddity point is studied by multi-dimension Newton method, damped Newton method and Newton direction method. The importance of the idea of blind walking repeatedly is testified. Owing to the parallel arithmetic of modernistic optimization method, it does not need to study optimization problem with seriate feasible domain by modernistic optimization method.

Parameter study and optimization design of a hat oblique tunnel portal

2021 ◽  
pp. 095440972110140
Author(s):  
Zijian Guo ◽  
Tanghong Liu ◽  
Wenhui Li ◽  
Yutao Xia
Keyword(s):  
High Speed ◽  
Optimization Design ◽  
Pareto Front ◽  
Optimization Problem ◽  
Optimization Method ◽  
Design Parameters ◽  
Parameter Study ◽  
Buffer Structure ◽  
Tunnel Entrance ◽  
The Ideal

The present work focuses on the aerodynamic problems resulting from a high-speed train (HST) passing through a tunnel. Numerical simulations were employed to obtain the numerical results, and they were verified by a moving-model test. Two responses, [Formula: see text] (coefficient of the peak-to-peak pressure of a single fluctuation) and[Formula: see text] (pressure value of micro-pressure wave), were studied with regard to the three building parameters of the portal-hat buffer structure of the tunnel entrance and exit. The MOPSO (multi-objective particle swarm optimization) method was employed to solve the optimization problem in order to find the minimum [Formula: see text] and[Formula: see text]. Results showed that the effects of the three design parameters on [Formula: see text] were not monotonous, and the influences of[Formula: see text] (the oblique angle of the portal) and [Formula: see text] (the height of the hat structure) were more significant than that of[Formula: see text] (the angle between the vertical line of the portal and the hat). Monotonically decreasing responses were found in [Formula: see text] for [Formula: see text] and[Formula: see text]. The Pareto front of [Formula: see text] and[Formula: see text]was obtained. The ideal single-objective optimums for each response located at the ends of the Pareto front had values of 1.0560 for [Formula: see text] and 101.8 Pa for[Formula: see text].

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