The Use of the Adjoint Method for Solving Typical Optimization Problems in Multibody Dynamics

2015 ◽  
Vol 10 (6) ◽  
Author(s):  
Karin Nachbagauer ◽  
Stefan Oberpeilsteiner ◽  
Karim Sherif ◽  
Wolfgang Steiner
Keyword(s):  
Optimal Control ◽  
Parameter Identification ◽  
Multibody Dynamics ◽  
Trajectory Tracking ◽  
Adjoint Method ◽  
Inverse Dynamics ◽  
Optimization Problems ◽  
Complicated Structure ◽  
Wide Range ◽  
Classical Optimization

The present paper illustrates the potential of the adjoint method for a wide range of optimization problems in multibody dynamics such as inverse dynamics and parameter identification. Although the equations and matrices included show a complicated structure, the additional effort when combining the standard forward solver to the adjoint backward solver is kept in limits. Therefore, the adjoint method shows an efficient way to incorporate inverse dynamics to engineering multibody applications, e.g., trajectory tracking or parameter identification in the field of robotics. The present paper studies examples for both, parameter identification and optimal control, and shows the potential of the adjoint method in solving classical optimization problems in multibody dynamics.

scholarly journals Assessment of Linearization Approaches for Multibody Dynamics Formulations

2017 ◽  
Vol 12 (4) ◽  
Author(s):  
Francisco González ◽  
Pierangelo Masarati ◽  
Javier Cuadrado ◽  
Miguel A. Naya
Keyword(s):  
Mechanical System ◽  
Multibody Dynamics ◽  
Equations Of Motion ◽  
Differential Algebraic Equations ◽  
Algebraic Equations ◽  
Practical Applications ◽  
Linearization Methods ◽  
Highly Nonlinear ◽  
Wide Range ◽  
The Way

Formulating the dynamics equations of a mechanical system following a multibody dynamics approach often leads to a set of highly nonlinear differential-algebraic equations (DAEs). While this form of the equations of motion is suitable for a wide range of practical applications, in some cases it is necessary to have access to the linearized system dynamics. This is the case when stability and modal analyses are to be carried out; the definition of plant and system models for certain control algorithms and state estimators also requires a linear expression of the dynamics. A number of methods for the linearization of multibody dynamics can be found in the literature. They differ in both the approach that they follow to handle the equations of motion and the way in which they deliver their results, which in turn are determined by the selection of the generalized coordinates used to describe the mechanical system. This selection is closely related to the way in which the kinematic constraints of the system are treated. Three major approaches can be distinguished and used to categorize most of the linearization methods published so far. In this work, we demonstrate the properties of each approach in the linearization of systems in static equilibrium, illustrating them with the study of two representative examples.

scholarly journals Two-Segment Foot Model for the Biomechanical Analysis of Squat

2017 ◽  
Vol 2017 ◽  
pp. 1-11
Author(s):  
E. Panero ◽  
L. Gastaldi ◽  
W. Rapp
Keyword(s):  
Body Weight ◽  
Inverse Dynamics ◽  
Statistical Significance ◽  
Lower Limbs ◽  
Biomechanical Analysis ◽  
Wide Range ◽  
Foot Model ◽  
Partial Body ◽  
The One ◽  
Midtarsal Joint

Squat exercise is acquiring interest in many fields, due to its benefits in improving health and its biomechanical similarities to a wide range of sport motions and the recruitment of many body segments in a single maneuver. Several researches had examined considerable biomechanical aspects of lower limbs during squat, but not without limitations. The main goal of this study focuses on the analysis of the foot contribution during a partial body weight squat, using a two-segment foot model that considers separately the forefoot and the hindfoot. The forefoot and hindfoot are articulated by the midtarsal joint. Five subjects performed a series of three trials, and results were averaged. Joint kinematics and dynamics were obtained using motion capture system, two force plates closed together, and inverse dynamics techniques. The midtarsal joint reached a dorsiflexion peak of 4°. Different strategies between subjects revealed 4° supination and 2.5° pronation of the forefoot. Vertical GRF showed 20% of body weight concentrated on the forefoot and 30% on the hindfoot. The percentages varied during motion, with a peak of 40% on the hindfoot and correspondently 10% on the forefoot, while the traditional model depicted the unique constant 50% value. Ankle peak of plantarflexion moment, power absorption, and power generation was consistent with values estimated by the one-segment model, without statistical significance.

scholarly journals A Modified NM-PSO Method for Parameter Estimation Problems of Models

2012 ◽  
Vol 2012 ◽  
pp. 1-12 ◽  
Author(s):  
An Liu ◽  
Erwie Zahara ◽  
Ming-Ta Yang
Keyword(s):  
Genetic Algorithm ◽  
Parameter Estimation ◽  
Particle Swarm Optimization ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Optimization Problems ◽  
Particle Swarm ◽  
Swarm Optimization ◽  
Wide Range ◽  
Estimation Problems

Ordinary differential equations usefully describe the behavior of a wide range of dynamic physical systems. The particle swarm optimization (PSO) method has been considered an effective tool for solving the engineering optimization problems for ordinary differential equations. This paper proposes a modified hybrid Nelder-Mead simplex search and particle swarm optimization (M-NM-PSO) method for solving parameter estimation problems. The M-NM-PSO method improves the efficiency of the PSO method and the conventional NM-PSO method by rapid convergence and better objective function value. Studies are made for three well-known cases, and the solutions of the M-NM-PSO method are compared with those by other methods published in the literature. The results demonstrate that the proposed M-NM-PSO method yields better estimation results than those obtained by the genetic algorithm, the modified genetic algorithm (real-coded GA (RCGA)), the conventional particle swarm optimization (PSO) method, and the conventional NM-PSO method.

An Efficient Chaotic Salp Swarm Optimization Approach Based on Ensemble Algorithm for Solving Class Imbalance Problem

2021 ◽  
Author(s):  
Rekha G ◽  
Krishna Reddy V ◽  
chandrashekar jatoth ◽  
Ugo Fiore
Keyword(s):  
Feature Selection ◽  
Optimization Algorithm ◽  
Optimization Problems ◽  
Fitness Function ◽  
Class Imbalance ◽  
Optimization Approach ◽  
Class Imbalance Problem ◽  
Swarm Optimization ◽  
Adaboost Algorithm ◽  
Wide Range

Abstract Class imbalance problems have attracted the research community but a few works have focused on feature selection with imbalanced datasets. To handle class imbalance problems, we developed a novel fitness function for feature selection using the chaotic salp swarm optimization algorithm, an efficient meta-heuristic optimization algorithm that has been successfully used in a wide range of optimization problems. This paper proposes an Adaboost algorithm with chaotic salp swarm optimization. The most discriminating features are selected using salp swarm optimization and Adaboost classifiers are thereafter trained on the features selected. Experiments show the ability of the proposed technique to find the optimal features with performance maximization of Adaboost.

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