Dexterity Analysis based on Jacobian and Performance Optimization for Multi-segment Continuum Robots

2021 ◽  
pp. 1-13
Author(s):  
Jiao Wang ◽  
Henry Y K Lau
Keyword(s):  
Performance Optimization ◽  
Optimization Problem ◽  
Jacobian Matrix ◽  
Pso Algorithm ◽  
Optimal Length ◽  
Continuum Robots ◽  
Swarm Optimization ◽  
Global Indices ◽  
Reachable Workspace ◽  
And Performance

Abstract This study presents the performance analysis of multi- segment continuum robots. Since continuum robots are designed to provide excellent dexterity, two local indices, axiality and angularity dexterity, are introduced to study the dexterity that is inspired by separating Jacobian matrix. A Monte Carlo Method is adopted to simulate the distribution of local dexterity over the workspace. On this basis, the corresponding global indices in axiality and angularity are defined to compare global dexterity performance. To investigate the optimal kinematic performance, an objective function related to the segment lengths is designed under the consideration of reachable workspace as well as dexterity performance. Particle Swarm Optimization (PSO) algorithm is adopted to solve the optimization problem successfully. The optimal length distributions for two-segment and three-segment continuum robots are discovered. It is found that this method can also apply to general multi-segment continuum robots.

Convergence Analysis of Particle Swarm Optimization via Illustration Styles

2021 ◽  
pp. 29-37
Author(s):  
Wei-Der Chang ◽  
Keyword(s):  
Particle Swarm Optimization ◽  
Convergence Analysis ◽  
Optimization Problem ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Function Optimization ◽  
Evolutionary Computations ◽  
Swarm Optimization ◽  
Simulation Results ◽  
Population Based Algorithm

Particle swarm optimization (PSO) is the most important and popular algorithm to solving the engineering optimization problem due to its simple updating formulas and excellent searching capacity. This algorithm is one of evolutionary computations and is also a population-based algorithm. Traditionally, to demonstrate the convergence analysis of the PSO algorithm or its related variations, simulation results in a numerical presentation are often given. This way may be unclear or unsuitable for some particular cases. Hence, this paper will adopt the illustration styles instead of numeric simulation results to more clearly clarify the convergence behavior of the algorithm. In addition, it is well known that three parameters used in the algorithm, i.e., the inertia weight w, position constants c1 and c2, sufficiently dominate the whole searching performance. The influence of these parameter settings on the algorithm convergence will be considered and examined via a simple two-dimensional function optimization problem. All simulation results are displayed using a series of illustrations with respect to various iteration numbers. Finally, some simple rules on how to suitably assign these parameters are also suggested

A Method of Parameters Selecting in Robust Control Based on PSO Algorithm

2011 ◽  
Vol 320 ◽  
pp. 574-579
Author(s):  
Hua Li ◽  
Zhi Cheng Xu ◽  
Shu Qing Wang
Keyword(s):  
Particle Swarm Optimization ◽  
Robust Control ◽  
Optimization Problem ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Swarm Optimization ◽  
Satisfactory Performance ◽  
Novel Method ◽  
Simulation Results

Aiming at a kind of uncertainties of models in complex industry processes, a novel method for selecting robust parameters is stated in the paper. Based on the analysis, parameters selecting for robust control is reduced to be an object optimization problem, and the particle swarm optimization (PSO) is used for solving the problem, and the corresponding robust parameters are obtained. Simulation results show that the robust parameters designed by this method have good robustness and satisfactory performance.

The Motion Planning for Spherical Robot with Two Motors

2015 ◽  
Vol 789-790 ◽  
pp. 688-692
Author(s):  
Xin Wang
Keyword(s):  
Particle Swarm Optimization ◽  
Angular Velocity ◽  
Motion Planning ◽  
Coordinate System ◽  
Optimization Problem ◽  
Kinematic Model ◽  
Pso Algorithm ◽  
Spherical Robot ◽  
Swarm Optimization ◽  
Moving Coordinate

In this paper, we proposed a spherical robot with two motors in the horizontal and vertical directions which derive the robot to do omni-directionally roll. Based on the structure of the robot, we derived the kinematic model using inertial and moving coordinate system. In order to minimize the energy of the system, an optimization problem with two optimization variables which are the parameters to control the angular velocity of the motors is given. After that, a particle swarm optimization (PSO) algorithm is used to solve the optimization problem. The simulation shows that the motion planning with the algorithm has high precision.

Quantitative Feedback Theory control design using particle swarm optimization method

2011 ◽  
Vol 34 (4) ◽  
pp. 463-476 ◽  
Author(s):  
Hazem I Ali ◽  
Samsul Bahari B Mohd Noor ◽  
SM Bashi ◽  
Mohammad Hamiruce Marhaban
Keyword(s):  
Particle Swarm Optimization ◽  
Particle Swarm ◽  
Design Procedure ◽  
Pso Algorithm ◽  
Optimization Method ◽  
Quantitative Feedback Theory ◽  
Swarm Optimization ◽  
Servo Actuator ◽  
Actuator System ◽  
And Performance

In this paper, a particle swarm optimization (PSO) method is proposed to design Quantitative Feedback Theory (QFT) control. This method minimizes a proposed cost function subject to appropriate robust stability and performance QFT constraints. The PSO algorithm is simple and easy to implement, and can be used to automate the loop shaping procedures of the standard QFT. The proposed method is applied to the high uncertainty pneumatic servo actuator system as an example to illustrate the design procedure of the proposed algorithm. The proposed method is compared with the standard QFT control. The results show that the superiority of the proposed method in that it can achieve the same robustness requirements of standard QFT control with simple structure and low order controller.

A New Simple Micro-PSO for High Dimensional Optimization Problem

2012 ◽  
Vol 236-237 ◽  
pp. 1195-1200
Author(s):  
Wen Hua Han
Keyword(s):  
Optimization Problem ◽  
Optimization Technique ◽  
Pso Algorithm ◽  
Population Based ◽  
Global Optimum ◽  
Stochastic Search ◽  
High Dimensional ◽  
Swarm Optimization ◽  
Search Optimization ◽  
Dimensional Optimization

The particle swarm optimization (PSO) algorithm is a population-based intelligent stochastic search optimization technique, which has already been widely used to various of fields. In this paper, a simple micro-PSO is proposed for high dimensional optimization problem, which is resulted from being introduced escape boundary and perturbation for global optimum. The advantages of the simple micro-PSO are more simple and easily implemented than the previous micro-PSO. Experiments were conducted using Griewank, Rosenbrock, Ackley, Tablets functions. The experimental results demonstrate that the simple micro-PSO are higher optimization precision and faster convergence rate than PSO and robust for the dimension of the optimization problem.

Parameter Optimization of Decentralized OS-CFAR System Based Modified PSO Method

2012 ◽  
Vol 532-533 ◽  
pp. 881-886
Author(s):  
Pan Zhi Liu ◽  
Ruo Yu Pan ◽  
Guo Fang Guo
Keyword(s):  
Optimization Problem ◽  
Detection System ◽  
Pso Algorithm ◽  
Optimization Method ◽  
Fusion Center ◽  
Threshold Values ◽  
Cfar Detection ◽  
Computation Technique ◽  
And Performance ◽  
Ordered Statistics

For decentralized ordered statistics (OS) constant false alarm ration (CFAR) detection system, the parameter estimation and performance analysis in complicated detection condition is a typical nonlinear optimization problem. Owing to the nonlinear property of distributed OS-CFAR detection system, it is seriously difficult to obtain optimal threshold values using some optimization method at the fusion center. This paper provides a novel solution based on an effective and flexible particle swarm optimization (PSO) algorithm. As a novel evolutionary computation technique, PSO has attracted much attention and wide applications, owing to its simple concept, easy implementation and quick convergence. Using this approach, all system parameters can be optimized simultaneously. The simulation results show that the proposed approach can achieve effective performances with the above method.

scholarly journals Beetle swarm optimization algorithm: Theory and application

Filomat ◽  
2020 ◽  
Vol 34 (15) ◽  
pp. 5121-5137
Author(s):  
Tiantian Wang ◽  
Long Yang ◽  
Qiang Liu
Keyword(s):  
Optimization Algorithm ◽  
Optimization Problem ◽  
Pso Algorithm ◽  
Design Problems ◽  
Swarm Optimization ◽  
Engineering Design Problems ◽  
Grasshopper Optimization Algorithm ◽  
Algorithm Theory ◽  
Grasshopper Optimization ◽  
Practical Impact

In this paper, a new meta-heuristic algorithm, called beetle swarm optimization (BSO) algorithm, is proposed by enhancing the performance of swarm optimization through beetle foraging principles. The performance of 23 benchmark functions is tested and compared with widely used algorithms, including particle swarm optimization (PSO) algorithm, genetic algorithm (GA) and grasshopper optimization algorithm (GOA). Numerical experiments show that the BSO algorithm outperforms its counterparts. Besides, to demonstrate the practical impact of the proposed algorithm, two classic engineering design problems, namely, pressure vessel design problem and himmelblau?s optimization problem, are also considered and the proposed BSO algorithm is shown to be competitive in those applications.

scholarly journals Optimal Coordination of DOC Relays Incorporated into a Distributed Generation-Based Micro-grid Using a Meta-Heuristic MVO Algorithm

Energies ◽  
2019 ◽  
Vol 12 (21) ◽  
pp. 4115 ◽  
Author(s):  
Abdelsalam ◽  
Diab
Keyword(s):  
Distributed Generation ◽  
Optimization Problem ◽  
Operating Time ◽  
Pso Algorithm ◽  
Swarm Optimization ◽  
Optimal Coordination ◽  
Micro Grid ◽  
Bus Networks ◽  
Micro Grids ◽  
Better Than

Distributed, generation-based micro-grids are increasingly being used in the build-up of the modern power system. However, the protection of these micro-grids has many challenges. One of the important challenges is the coordination of directional overcurrent (DOC) relays. The optimization of the coordination of DOC relays is considered a nonlinear programming problem with pre-defined constrains. In this paper, the problem of the optimal coordination of DOC relays is solved using a multi-verse optimization (MVO) algorithm which is inspired from cosmology science. The proposed algorithm is tested by applying it to Institute of Electrical and Electronics Engineers (IEEE) 3 bus and IEEE 9 bus networks. The performance of the proposed algorithm is compared with the particle swarm optimization (PSO) algorithm when applied to both networks. All results show that the performance of the MVO algorithm is better than PSO in terms of its reduction of both the overall operating time (OT) of DOC relays and the computational burden of the computer solving the optimization problem.

A Novel Reactive Power Compensation Approach Based on Particle Swarm Optimization

2015 ◽  
Vol 740 ◽  
pp. 401-404
Author(s):  
Yun Zhi Li ◽  
Quan Yuan ◽  
Yang Zhao ◽  
Qian Hui Gang
Keyword(s):  
Particle Swarm Optimization ◽  
Optimization Problem ◽  
Reactive Power ◽  
Power Optimization ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Particle Swarm Algorithm ◽  
Reactive Power Optimization ◽  
Swarm Optimization ◽  
Swarm Algorithm

The particle swarm optimization (PSO) algorithm as a stochastic search algorithm for solving reactive power optimization problem. The PSO algorithm converges too fast, easy access to local convergence, leading to convergence accuracy is not high, to study the particle swarm algorithm improvements. The establishment of a comprehensive consideration of the practical constraints and reactive power regulation means no power optimization mathematical model, a method using improved particle swarm algorithm for reactive power optimization problem, the algorithm weighting coefficients and inactive particles are two aspects to improve. Meanwhile segmented approach to particle swarm algorithm improved effectively address the shortcomings evolution into local optimum and search accuracy is poor, in order to determine the optimal reactive power optimization program.

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