scholarly journals Design of a Piping Inspection Robot by Optimization Approach

2020 ◽  
Author(s):  
Swaminath Venkateswaran ◽  
Damien Chablat ◽  
Pol Hamon
Keyword(s):  
Optimization Problems ◽  
Mechanical Design ◽  
Motor Units ◽  
Optimization Approach ◽  
Inspection Robot ◽  
Variable Diameter ◽  
Rigid Model ◽  
Pass Through ◽  
Leg Mechanisms

Abstract This article presents an optimization approach for the design of an inspection robot that can move inside variable diameter pipelines having bends and junctions. The inspection robot uses a mechanical design that mimics the locomotion of a caterpillar. The existing prototype developed at LS2N, France is a rigid model that makes it feasible for working only inside straight pipelines. By the addition of a tensegrity mechanism between motor units, the robot is made reconfigurable. However, the motor units used in the prototype are oversized to pass through pipe bends or junctions. An optimization approach is employed to determine the dimensions of motors and their associated leg mechanisms that can overcome such bends. Two optimization problems are defined and solved in this article. The first problem deals with the determination of motor sizing without leg mechanisms. The second problem deals with the determination of sizing of the leg mechanism with respect to the dimensions of motor units obtained from the first problem. A 3D model of the optimized robot design is then realized using CAD software.

scholarly journals An optimal design of a flexible piping inspection robot

2021 ◽  
pp. 1-37
Author(s):  
Swaminath Venkateswaran ◽  
Damien Chablat ◽  
Pol Hamon
Keyword(s):  
Optimization Problems ◽  
Motor Units ◽  
Static Stability ◽  
Design Parameters ◽  
Optimization Approach ◽  
Inspection Robot ◽  
The Third ◽  
Pass Through ◽  
Leg Mechanisms

Abstract This article presents an optimization approach for the design of a piping inspection robot. A rigid bio-inspired piping inspection robot that moves like a caterpillar was designed and developed at LS2N, France. By the addition of tensegrity mechanisms between the motor modules, the mobile robot becomes flexible to pass through the bends. However, the existing motor units prove to be oversized for passing through pipe bends at 90°. Thus, three cascading optimization problems are presented in this article to determine the sizing of robot assembly that can overcome such pipe bends. The first problem deals with the identification of design parameters of the tensegrity mechanism based on static stability. Followed by that, in the second problem, the optimum design parameters of the robot modules are determined for the robot assembly without the presence of leg mechanisms. The third problem deals with the determination of the size of the leg mechanism for the results of the two previous optimization problems. A digital model of the optimized robot assembly is then realized using CAD software.

A Distributed Pool Architecture for Highly Constrained Optimization Problems in Complex Systems Design

2011 ◽  
Author(s):  
Vijitashwa Pandey ◽  
Zissimos P. Mourelatos
Keyword(s):  
Complex Systems ◽  
Optimization Problems ◽  
Mechanical Design ◽  
Systems Design ◽  
Optimization Approach ◽  
Dynamic Changes ◽  
Design Problems ◽  
Complete Knowledge ◽  
Design Variables ◽  
Design Requirements

The design of complex systems design is challenging because of the presence of numerous design variables and constraints. Dynamic changes in design requirements and lack of complete knowledge of subsystem requirements add to the complexity. A recently proposed pool architecture has been shown to aide distributed solving of optimization problems. The approach not only saves solution time but also has other benefits like resiliency against failures of some processors. We apply this approach in this paper, to highly constrained design problems, with dynamically changing constraints, where finding a feasible solution is challenging. This task is distributed between the processors in the methodology we propose. We demonstrate the efficacy of our method using an MINLP-class of mechanical design optimization problem. We demonstrate the computational savings and the resistance to partial failures in the processors. In addition, we show how the optimization approach can adapt to dynamic changes in design constraints.

Parameter Optimization for a Temperature Estimation Model

2003 ◽  
Author(s):  
J. Cole Smith ◽  
Alfonso Ortega ◽  
Colleen M. Gabel ◽  
Dale Henderson
Keyword(s):  
Optimization Problems ◽  
Thermal Response ◽  
Future Research ◽  
Optimization Approach ◽  
Estimation Model ◽  
Temperature Estimation ◽  
Nonconvex Optimization Problems ◽  
The Subject

We consider a problem arising in designing Compact Thermal Models (CTMs) for the purpose of simulating the thermal response of a package. CTMs are often preferred over more detailed models due to their minimal representation and the reduced computations required to obtain accurate nodal temperature predictions under hypothetical scenarios. The quality of CTM performance depends on the determination of an appropriate set of parameters that drive the model. The subject of this paper is a heuristic nonlinear optimization approach to computing the set of CTM parameters that best predicts the thermal response of a package. Our algorithm solves a series of one-dimensional nonconvex optimization problems to obtain these parameters, exploiting the special structure of the CTM in order to improve both the execution time of the algorithm and the quality of the CTM performance. We conclude the paper by providing a brief array of computational results as a proof of concept, along with several possible future research extensions.

A microbial treatment population dynamics optimization approach

2021 ◽  
pp. 1-15
Author(s):  
Jinding Gao
Keyword(s):  
Population Dynamics ◽  
Information Exchange ◽  
Information Diffusion ◽  
Optimization Problems ◽  
Microbial Control ◽  
Function Optimization ◽  
Optimization Approach ◽  
Dynamics Model ◽  
Population Dynamics Model ◽  
Number Of Individuals

In order to solve some function optimization problems, Population Dynamics Optimization Algorithm under Microbial Control in Contaminated Environment (PDO-MCCE) is proposed by adopting a population dynamics model with microbial treatment in a polluted environment. In this algorithm, individuals are automatically divided into normal populations and mutant populations. The number of individuals in each category is automatically calculated and adjusted according to the population dynamics model, it solves the problem of artificially determining the number of individuals. There are 7 operators in the algorithm, they realize the information exchange between individuals the information exchange within and between populations, the information diffusion of strong individuals and the transmission of environmental information are realized to individuals, the number of individuals are increased or decreased to ensure that the algorithm has global convergence. The periodic increase of the number of individuals in the mutant population can greatly increase the probability of the search jumping out of the local optimal solution trap. In the iterative calculation, the algorithm only deals with 3/500∼1/10 of the number of individual features at a time, the time complexity is reduced greatly. In order to assess the scalability, efficiency and robustness of the proposed algorithm, the experiments have been carried out on realistic, synthetic and random benchmarks with different dimensions. The test case shows that the PDO-MCCE algorithm has better performance and is suitable for solving some optimization problems with higher dimensions.

Design and operation of a tripod walking robot via dynamics simulation

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 733-743 ◽  
Author(s):  
Conghui Liang ◽  
Hao Gu ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Mechanical Design ◽  
Low Cost ◽  
Three Dimensional ◽  
The Body ◽  
Dynamics Simulation ◽  
Walking Ability ◽  
Walking Robot ◽  
Three Dimensional Model ◽  
Software Environment ◽  
Leg Mechanisms

SUMMARYA mechanical design and dynamics walking simulation of a novel tripod walking robot are presented in this paper. The tripod walking robot consists of three 1-degree-of-freedom (DOF) Chebyshev–Pantograph leg mechanisms with linkage architecture. A balancing mechanism is mounted on the body of the tripod walking robot to adjust its center of gravity (COG) during walking for balancing purpose. A statically stable tripod walking gait is performed by synchronizing the motions of the three leg mechanisms and the balancing mechanism. A three-dimensional model has been elaborated in SolidWorks® engineering software environment for a characterization of a feasible mechanical design. Dynamics simulation has been carried out in the MSC.ADAMS® environment with the aim to characterize and to evaluate the dynamic walking performances of the proposed design with low-cost easy-operation features. Simulation results show that the proposed tripod walking robot with proper input torques, gives limited reaction forces at the linkage joints, and a practical feasible walking ability on a flatten ground.

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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