Lower limb exoskeleton robots’ dynamics parameters identification based on improved beetle swarm optimization algorithm

Robotica ◽  
2022 ◽  
pp. 1-16
Author(s):  
Peng Zhang ◽  
Junxia Zhang
Keyword(s):  
Optimization Algorithm ◽  
Robot Control ◽  
Search Algorithm ◽  
Optimal Solution ◽  
Global Optimum ◽  
Identification Accuracy ◽  
Dynamic Parameters ◽  
Dynamics Modeling ◽  
Swarm Optimization ◽  
Exoskeleton Robot

Abstract Efficient and high-precision identification of dynamic parameters is the basis of model-based robot control. Firstly, this paper designed the structure and control system of the developed lower extremity exoskeleton robot. The dynamics modeling of the exoskeleton robot is performed. The minimum parameter set of the identified parameters is determined. The dynamic model is linearized based on the parallel axis theory. Based on the beetle antennae search algorithm (BAS) and particle swarm optimization (PSO), the beetle swarm optimization algorithm (BSO) was designed and applied to the identification of dynamic parameters. The update rule of each particle originates from BAS, and there is an individual’s judgment on the environment space in each iteration. This method does not rely on the historical best solution in the PSO and the current global optimal solution of the individual particle, thereby reducing the number of iterations and improving the search speed and accuracy. Four groups of test functions with different characteristics were used to verify the performance of the proposed algorithm. Experimental results show that the BSO algorithm has a good balance between exploration and exploitation capabilities to promote the beetle to move to the global optimum. Besides, the test was carried out on the exoskeleton dynamics model. This method can obtain independent dynamic parameters and achieve ideal identification accuracy. The prediction result of torque based on the identification method is in good agreement with the ideal torque of the robot control.

scholarly journals A New Method for Identifying Kinetic Parameters of Industrial Robots

Actuators ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 2
Author(s):  
Bin Kou ◽  
Shijie Guo ◽  
Dongcheng Ren
Keyword(s):  
Simulated Annealing ◽  
Kinetic Parameters ◽  
Optimization Algorithm ◽  
Simulated Annealing Algorithm ◽  
Industrial Robot ◽  
Optimal Solution ◽  
Industrial Robots ◽  
Search Pattern ◽  
Dynamic Parameters ◽  
Swarm Optimization

Identifying the kinetic parameters of an industrial robot is the basis for designing a controller for it. To solve the problems of the poor accuracy and easy premature convergence of common bionic algorithms for identifying the dynamic parameters of such robots, this study proposed simulated annealing with similar exponential changes based on the beetle swarm optimization (SEDSABSO) algorithm. Expressions for the dynamics of the industrial robot were first obtained through the SymPyBotics toolkit in Python, and the required trajectories of excitation were then designed to identify its dynamic parameters. Following this, the search pattern of the global optimal solution for the beetle swarm optimization algorithm was improved in the context of solving for these parameters. The global convergence of the algorithm was improved by improving the iterative form of the number N of skinks in it by considering random perturbations and the simulated annealing algorithm, whereas its accuracy of convergence was improved through the class exponential change model. The improved beetle swarm optimization algorithm was used to identify the kinetic parameters of the Zhichang Kawasaki RS010N industrial robot. The results of experiments showed that the proposed algorithm was fast and highly accurate in identifying the kinetic parameters of the industrial robot.

scholarly journals Particle Swarm Optimization Combined with Inertia-Free Velocity and Direction Search

Electronics ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 597
Author(s):  
Kun Miao ◽  
Qian Feng ◽  
Wei Kuang
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Algorithm ◽  
Particle Swarm ◽  
Optimal Solution ◽  
Small Region ◽  
Benchmark Problems ◽  
Swarm Optimization ◽  
Local Searches ◽  
Engineering Design Problems ◽  
Direction Search

The particle swarm optimization algorithm (PSO) is a widely used swarm-based natural inspired optimization algorithm. However, it suffers search stagnation from being trapped into a sub-optimal solution in an optimization problem. This paper proposes a novel hybrid algorithm (SDPSO) to improve its performance on local searches. The algorithm merges two strategies, the static exploitation (SE, a velocity updating strategy considering inertia-free velocity), and the direction search (DS) of Rosenbrock method, into the original PSO. With this hybrid, on the one hand, extensive exploration is still maintained by PSO; on the other hand, the SE is responsible for locating a small region, and then the DS further intensifies the search. The SDPSO algorithm was implemented and tested on unconstrained benchmark problems (CEC2014) and some constrained engineering design problems. The performance of SDPSO is compared with that of other optimization algorithms, and the results show that SDPSO has a competitive performance.

scholarly journals An Adaptive Particle Swarm Optimization Algorithm for Unconstrained Optimization

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-18
Author(s):  
Feng Qian ◽  
Mohammad Reza Mahmoudi ◽  
Hamïd Parvïn ◽  
Kim-Hung Pho ◽  
Bui Anh Tuan
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Optimization Problems ◽  
Particle Swarm ◽  
Optimization Methods ◽  
Global Optimum ◽  
Initial Population ◽  
Swarm Optimization ◽  
Conventional Optimization

Conventional optimization methods are not efficient enough to solve many of the naturally complicated optimization problems. Thus, inspired by nature, metaheuristic algorithms can be utilized as a new kind of problem solvers in solution to these types of optimization problems. In this paper, an optimization algorithm is proposed which is capable of finding the expected quality of different locations and also tuning its exploration-exploitation dilemma to the location of an individual. A novel particle swarm optimization algorithm is presented which implements the conditioning learning behavior so that the particles are led to perform a natural conditioning behavior on an unconditioned motive. In the problem space, particles are classified into several categories so that if a particle lies within a low diversity category, it would have a tendency to move towards its best personal experience. But, if the particle’s category is with high diversity, it would have the tendency to move towards the global optimum of that category. The idea of the birds’ sensitivity to its flying space is also utilized to increase the particles’ speed in undesired spaces in order to leave those spaces as soon as possible. However, in desirable spaces, the particles’ velocity is reduced to provide a situation in which the particles have more time to explore their environment. In the proposed algorithm, the birds’ instinctive behavior is implemented to construct an initial population randomly or chaotically. Experiments provided to compare the proposed algorithm with the state-of-the-art methods show that our optimization algorithm is one of the most efficient and appropriate ones to solve the static optimization problems.

scholarly journals Intelligent discrete particle swarm optimization for multiprocessor task scheduling problem

2016 ◽  
Vol 11 (1) ◽  
pp. 58-67 ◽  
Author(s):  
S Sarathambekai ◽  
K Umamaheswari
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Optimization Problems ◽  
Particle Swarm ◽  
Optimal Solution ◽  
Initial Population ◽  
Discrete Particle Swarm Optimization ◽  
Swarm Optimization ◽  
Discrete Particle

Discrete particle swarm optimization is one of the most recently developed population-based meta-heuristic optimization algorithm in swarm intelligence that can be used in any discrete optimization problems. This article presents a discrete particle swarm optimization algorithm to efficiently schedule the tasks in the heterogeneous multiprocessor systems. All the optimization algorithms share a common algorithmic step, namely population initialization. It plays a significant role because it can affect the convergence speed and also the quality of the final solution. The random initialization is the most commonly used method in majority of the evolutionary algorithms to generate solutions in the initial population. The initial good quality solutions can facilitate the algorithm to locate the optimal solution or else it may prevent the algorithm from finding the optimal solution. Intelligence should be incorporated to generate the initial population in order to avoid the premature convergence. This article presents a discrete particle swarm optimization algorithm, which incorporates opposition-based technique to generate initial population and greedy algorithm to balance the load of the processors. Make span, flow time, and reliability cost are three different measures used to evaluate the efficiency of the proposed discrete particle swarm optimization algorithm for scheduling independent tasks in distributed systems. Computational simulations are done based on a set of benchmark instances to assess the performance of the proposed algorithm.

Research on Electronic Materials with Design of a Down-Conversion Mixer Based on Particle Swarm Optimization Algorithm

2013 ◽  
Vol 771 ◽  
pp. 173-177
Author(s):  
Hui Lin Shan ◽  
Yin Sheng Zhang
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Algorithm ◽  
Frequency Conversion ◽  
Particle Swarm Optimization Algorithm ◽  
Electronic Materials ◽  
Search Algorithm ◽  
Particle Swarm ◽  
Optimization Method ◽  
Dielectric Substrate ◽  
Swarm Optimization

This paper presents principles of a down-converted mixer for four sub-harmonic and proposes a particle swarm optimization algorithm as a global search algorithm, and the performance equation is used as the assessment of the mixer circuit optimization method. Dielectric substrate adopts Electronic Materials with RF/Duroid 5880 whose dielectric constant is 2.20 and 5mil in thickness. The optimization algorithm can quickly get optimal results. The simulation results show that this mixer achieves higher 1 dB compression point, loss of frequency conversion which is less than 15 dB and good linearity.

Optimization of Neural Tree Based on an Improved Quantum Particle Swarm Optimization

2013 ◽  
Vol 475-476 ◽  
pp. 956-959 ◽  
Author(s):  
Hao Teng ◽  
Shu Hui Liu ◽  
Yue Hui Chen
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Quantum Particle ◽  
Particle Swarm ◽  
Optimal Solution ◽  
Particle Swarm Algorithm ◽  
Swarm Optimization ◽  
Quantum Particle Swarm Optimization ◽  
Local Optimal Solution

In the model of flexible neural tree (FNT), parameters are usually optimized by particle swarm optimization algorithm (PSO). Because PSO has many shortcomings such as being easily trapped in local optimal solution and so on, an improved algorithm based on quantum-behaved particle swarm optimization (QPSO) is presented. It is combined with the factor of speed, gather and disturbance, so as to be used to optimize the parameters of FNT. This paper applies the improved quantum particle swarm optimization algorithm to the neural tree, and compares it with the standard particle swarm algorithm in the optimization of FNT. The result shows that the proposed algorithm is with a better expression, thus improves the performance of the FNT.

scholarly journals Improved Swarm Intelligent Blind Source Separation Based on Signal Cross-Correlation

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 118
Author(s):  
Jiali Zi ◽  
Danju Lv ◽  
Jiang Liu ◽  
Xin Huang ◽  
Wang Yao ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Particle Swarm Optimization ◽  
Blind Source Separation ◽  
Optimization Algorithm ◽  
Cross Correlation ◽  
Search Algorithm ◽  
Source Separation ◽  
Swarm Optimization ◽  
Sine Cosine Algorithm ◽  
Signal Sources

In recent years, separating effective target signals from mixed signals has become a hot and challenging topic in signal research. The SI-BSS (Blind source separation (BSS) based on swarm intelligence (SI) algorithm) has become an effective method for the linear mixture BSS. However, the SI-BSS has the problem of incomplete separation, as not all the signal sources can be separated. An improved algorithm for BSS with SI based on signal cross-correlation (SI-XBSS) is proposed in this paper. Our method created a candidate separation pool that contains more separated signals than the traditional SI-BSS does; it identified the final separated signals by the value of the minimum cross-correlation in the pool. Compared with the traditional SI-BSS, the SI-XBSS was applied in six SI algorithms (Particle Swarm Optimization (PSO), Genetic Algorithm (GA), Differential Evolution (DE), Sine Cosine Algorithm (SCA), Butterfly Optimization Algorithm (BOA), and Crow Search Algorithm (CSA)). The results showed that the SI-XBSS could effectively achieve a higher separation success rate, which was over 35% higher than traditional SI-BSS on average. Moreover, SI-SDR increased by 14.72 on average.

scholarly journals Progressive Particle Swarm Optimization Algorithm for Solving Reactive Power Problem

2015 ◽  
Vol 1 (3) ◽  
pp. 125
Author(s):  
Kanagasabai Lenin ◽  
Bhumanapally Ravindhranath Reddy ◽  
Munagala Surya Kalavathi
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Reactive Power ◽  
Particle Swarm ◽  
Optimal Solution ◽  
Test System ◽  
Position Vector ◽  
Swarm Optimization ◽  
Power Problem

In this paper a Progressive particle swarm optimization algorithm (PPS) is used to solve optimal reactive power problem. A Particle Swarm Optimization algorithm maintains a swarm of particles, where each particle has position vector and velocity vector which represents the potential solutions of the particles. These vectors are modernized from the information of global best (Gbest) and personal best (Pbest) of the swarm. All particles move in the search space to obtain optimal solution. In this paper a new concept is introduced of calculating the velocity of the particles with the help of Euclidian Distance conception. This new-fangled perception helps in finding whether the particle is closer to Pbest or Gbest and updates the velocity equation consequently. By this we plan to perk up the performance in terms of the optimal solution within a rational number of generations. The projected PPS has been tested on standard IEEE 30 bus test system and simulation results show clearly the better performance of the proposed algorithm in reducing the real power loss with control variables are within the limits.

scholarly journals Hybridization of Genetic Particle Swarm Optimization Algorithm with Symbiotic Organisms Search Algorithm for Solving Optimal Reactive Power Dispatch Problem

2020 ◽  
Vol 3 (1) ◽  
pp. 12-21
Author(s):  
Kanagasabai Lenin
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Search Algorithm ◽  
Particle Swarm ◽  
Swarm Optimization ◽  
Symbiotic Organisms Search ◽  
Power Dispatch ◽  
Fitness Value ◽  
Symbiotic Organisms

In this work Hybridization of Genetic Particle Swarm Optimization Algorithm with Symbiotic Organisms Search Algorithm (HGPSOS) has been done for solving the power dispatch problem. Genetic particle swarm optimization problem has been hybridized with Symbiotic organisms search (SOS) algorithm to solve the problem. Genetic particle swarm optimization algorithm is formed by combining the Particle swarm optimization algorithm (PSO) with genetic algorithm (GA).  Symbiotic organisms search algorithm is based on the actions between two different organisms in the ecosystem- mutualism, commensalism and parasitism. Exploration process has been instigated capriciously and every organism specifies a solution with fitness value.  Projected HGPSOS algorithm improves the quality of the search.  Proposed HGPSOS algorithm is tested in IEEE 30, bus test system- power loss minimization, voltage deviation minimization and voltage stability enhancement has been attained.

Test Case Optimization and Prioritization Using Improved Cuckoo Search and Particle Swarm Optimization Algorithm

2018 ◽  
Vol 7 (4.6) ◽  
pp. 275
Author(s):  
Chandrasekhara Reddy T ◽  
Srivani V ◽  
A. Mallikarjuna Reddy ◽  
G. Vishnu Murthy
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Algorithm ◽  
Particle Swarm Optimization Algorithm ◽  
Heuristic Algorithms ◽  
Search Algorithm ◽  
Particle Swarm ◽  
Cuckoo Search ◽  
Test Suite ◽  
Swarm Optimization ◽  
Cuckoo Algorithm

For minimized t-way test suite generation (t indicates more strength of interaction) recently many meta-heuristic, hybrid and hyper-heuristic algorithms are proposed which includes Artificial Bee Colony (ABC), Ant Colony Optimization (ACO), Genetic Algorithms (GA), Simulated Annealing (SA), Cuckoo Search (CS), Harmony Elements Algorithm (HE), Exponential Monte Carlo with counter (EMCQ), Particle Swarm Optimization (PSO), and Choice Function (CF). Although useful strategies are required specific domain knowledge to allow effective tuning before good quality solutions can be obtained. In our proposed technique test cases are optimized by utilizing Improved Cuckoo Algorithm (ICSA). At that point, the advanced experiments are organized or prioritized by utilizing Particle Swarm Optimization algorithm (PSO). The Particle Swarm Optimization and Improved Cuckoo Algorithm (PSOICSA) estimation is a blend of Improved Cuckoo Search Algorithm(ICSA) and Particle Swarm Optimization (PSO). PSOICSA could be utilized to advance the test suite, and coordinate both ICSA and PSO for a superior outcome, when contrasted with their individual execution as far as experiment improvement. 

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