Optimal Control Solutions for a Simple Model of Human Jumping

Author(s):  
Ross H. Miller ◽  
Brian R. Umberger ◽  
Graham E. Caldwell

Neuromuscular control of complex, multi-segment movements is often investigated with a modeling and computer simulation approach. Because a given movement can be completed using many different coordination choices, an optimization framework is often used to determine the muscle activity patterns that best accomplish the movement task. This framework is well suited to simulating movements whose performance objectives are easily specified by mathematical functions, such as vertical jumping for maximum height. However, these motion simulations tend to be difficult optimization problems because they contain many local optima that add complexity to the solution domain of the objective function [1–3].

2021 ◽  
Vol 40 (1) ◽  
pp. 919-946
Author(s):  
Morteza Karimzadeh Parizi ◽  
Farshid Keynia ◽  
Amid Khatibi bardsiri

Success of metaheuristic algorithms depends on the efficient balance between of exploration and exploitation phases. Any optimization algorithm requires a combination of diverse exploration and proper exploitation to avoid local optima. This paper proposes a new improved version of the Woodpecker Mating Algorithm (WMA), based on opposition-based learning, known as the OWMA aiming to develop exploration and exploitation capacities and establish a simultaneous balance between these two phases. This improvement consists of three major mechanisms, the first of which is the new Distance Opposition-based Learning (DOBL) mechanism for improving exploration, diversity, and convergence. The second mechanism is the allocation of local memory of personal experiences of search agents for developing the exploitation capacity. The third mechanism is the use of a self-regulatory and dynamic method for setting the Hα parameter to improve the Running Away function (RA) performance. The ability of the proposed algorithm to solve 23 benchmark mathematical functions was evaluated and compared to that of a series of the latest and most popular metaheuristic methods reviewed in the research literature. The proposed algorithm is also used as a Multi-Layer Perceptron (MLP) neural network trainer to solve the classification problem on four biomedical datasets and three function approximation datasets. In addition, the OWMA algorithm was evaluated in five optimization problems constrained by the real world. The simulation results proved the superior and promising performance of the proposed algorithm in the majority of evaluations. The results prove the superiority and promising performance of the proposed algorithm in solving very complicated optimization problems.


2011 ◽  
Vol 106 (1) ◽  
pp. 280-290 ◽  
Author(s):  
Karine Duval ◽  
Kathryn Luttin ◽  
Tania Lam

Reduced flexibility over the neuromotor control of paretic leg muscles may impact the extent to which individuals post-stroke modulate their muscle activity patterns to walk along curved paths. The purpose of this study was to compare lower-limb movements and neuromuscular strategies in the paretic leg of individuals with stroke with age-matched controls during curved walking. Participants walked at their preferred walking velocity along four different paths of increasing curvature, while lower-limb kinematics and muscle activity were recorded. A second group of able-bodied individuals walked along the four paths, matching the walking speed of the stroke group. The stroke group showed reduced lower-limb joint excursion and disordered modulation of foot pressure during curved walking, accompanied by reduced modulation of muscle activity patterns. In the inner leg of the curve in control subjects, the posteromedial muscles (medial gastrocnemius and medial hamstrings) showed decreased electromyographic amplitude as path curviture increased. Conversely, activity of the posterolateral musculature of the outer leg was decreased with increasing path curvature. Activity in the tibialis anterior and gluteus medius was also modulated with path curvature. However, in the stroke group, we found reduced modulation of muscle activity in the paretic leg during curved walking. The extent of modulation was also associated with the level of physical impairment due to stroke. The results of this study provide further knowledge about neuromuscular control of locomotor adaptations post-stroke.


Author(s):  
Prachi Agrawal ◽  
Talari Ganesh ◽  
Ali Wagdy Mohamed

AbstractThis article proposes a novel binary version of recently developed Gaining Sharing knowledge-based optimization algorithm (GSK) to solve binary optimization problems. GSK algorithm is based on the concept of how humans acquire and share knowledge during their life span. A binary version of GSK named novel binary Gaining Sharing knowledge-based optimization algorithm (NBGSK) depends on mainly two binary stages: binary junior gaining sharing stage and binary senior gaining sharing stage with knowledge factor 1. These two stages enable NBGSK for exploring and exploitation of the search space efficiently and effectively to solve problems in binary space. Moreover, to enhance the performance of NBGSK and prevent the solutions from trapping into local optima, NBGSK with population size reduction (PR-NBGSK) is introduced. It decreases the population size gradually with a linear function. The proposed NBGSK and PR-NBGSK applied to set of knapsack instances with small and large dimensions, which shows that NBGSK and PR-NBGSK are more efficient and effective in terms of convergence, robustness, and accuracy.


2021 ◽  
Author(s):  
Moritz Mühlenthaler ◽  
Alexander Raß ◽  
Manuel Schmitt ◽  
Rolf Wanka

AbstractMeta-heuristics are powerful tools for solving optimization problems whose structural properties are unknown or cannot be exploited algorithmically. We propose such a meta-heuristic for a large class of optimization problems over discrete domains based on the particle swarm optimization (PSO) paradigm. We provide a comprehensive formal analysis of the performance of this algorithm on certain “easy” reference problems in a black-box setting, namely the sorting problem and the problem OneMax. In our analysis we use a Markov model of the proposed algorithm to obtain upper and lower bounds on its expected optimization time. Our bounds are essentially tight with respect to the Markov model. We show that for a suitable choice of algorithm parameters the expected optimization time is comparable to that of known algorithms and, furthermore, for other parameter regimes, the algorithm behaves less greedy and more explorative, which can be desirable in practice in order to escape local optima. Our analysis provides a precise insight on the tradeoff between optimization time and exploration. To obtain our results we introduce the notion of indistinguishability of states of a Markov chain and provide bounds on the solution of a recurrence equation with non-constant coefficients by integration.


2016 ◽  
Vol 25 (06) ◽  
pp. 1650033 ◽  
Author(s):  
Hossam Faris ◽  
Ibrahim Aljarah ◽  
Nailah Al-Madi ◽  
Seyedali Mirjalili

Evolutionary Neural Networks are proven to be beneficial in solving challenging datasets mainly due to the high local optima avoidance. Stochastic operators in such techniques reduce the probability of stagnation in local solutions and assist them to supersede conventional training algorithms such as Back Propagation (BP) and Levenberg-Marquardt (LM). According to the No-Free-Lunch (NFL), however, there is no optimization technique for solving all optimization problems. This means that a Neural Network trained by a new algorithm has the potential to solve a new set of problems or outperform the current techniques in solving existing problems. This motivates our attempts to investigate the efficiency of the recently proposed Evolutionary Algorithm called Lightning Search Algorithm (LSA) in training Neural Network for the first time in the literature. The LSA-based trainer is benchmarked on 16 popular medical diagnosis problems and compared to BP, LM, and 6 other evolutionary trainers. The quantitative and qualitative results show that the LSA algorithm is able to show not only better local solutions avoidance but also faster convergence speed compared to the other algorithms employed. In addition, the statistical test conducted proves that the LSA-based trainer is significantly superior in comparison with the current algorithms on the majority of datasets.


2021 ◽  
Vol 12 (4) ◽  
pp. 98-116
Author(s):  
Noureddine Boukhari ◽  
Fatima Debbat ◽  
Nicolas Monmarché ◽  
Mohamed Slimane

Evolution strategies (ES) are a family of strong stochastic methods for global optimization and have proved their capability in avoiding local optima more than other optimization methods. Many researchers have investigated different versions of the original evolution strategy with good results in a variety of optimization problems. However, the convergence rate of the algorithm to the global optimum stays asymptotic. In order to accelerate the convergence rate, a hybrid approach is proposed using the nonlinear simplex method (Nelder-Mead) and an adaptive scheme to control the local search application, and the authors demonstrate that such combination yields significantly better convergence. The new proposed method has been tested on 15 complex benchmark functions and applied to the bi-objective portfolio optimization problem and compared with other state-of-the-art techniques. Experimental results show that the performance is improved by this hybridization in terms of solution eminence and strong convergence.


2021 ◽  
Author(s):  
Faruk Alpak ◽  
Yixuan Wang ◽  
Guohua Gao ◽  
Vivek Jain

Abstract Recently, a novel distributed quasi-Newton (DQN) derivative-free optimization (DFO) method was developed for generic reservoir performance optimization problems including well-location optimization (WLO) and well-control optimization (WCO). DQN is designed to effectively locate multiple local optima of highly nonlinear optimization problems. However, its performance has neither been validated by realistic applications nor compared to other DFO methods. We have integrated DQN into a versatile field-development optimization platform designed specifically for iterative workflows enabled through distributed-parallel flow simulations. DQN is benchmarked against alternative DFO techniques, namely, the Broyden–Fletcher–Goldfarb–Shanno (BFGS) method hybridized with Direct Pattern Search (BFGS-DPS), Mesh Adaptive Direct Search (MADS), Particle Swarm Optimization (PSO), and Genetic Algorithm (GA). DQN is a multi-thread optimization method that distributes an ensemble of optimization tasks among multiple high-performance-computing nodes. Thus, it can locate multiple optima of the objective function in parallel within a single run. Simulation results computed from one DQN optimization thread are shared with others by updating a unified set of training data points composed of responses (implicit variables) of all successful simulation jobs. The sensitivity matrix at the current best solution of each optimization thread is approximated by a linear-interpolation technique using all or a subset of training-data points. The gradient of the objective function is analytically computed using the estimated sensitivities of implicit variables with respect to explicit variables. The Hessian matrix is then updated using the quasi-Newton method. A new search point for each thread is solved from a trust-region subproblem for the next iteration. In contrast, other DFO methods rely on a single-thread optimization paradigm that can only locate a single optimum. To locate multiple optima, one must repeat the same optimization process multiple times starting from different initial guesses for such methods. Moreover, simulation results generated from a single-thread optimization task cannot be shared with other tasks. Benchmarking results are presented for synthetic yet challenging WLO and WCO problems. Finally, DQN method is field-tested on two realistic applications. DQN identifies the global optimum with the least number of simulations and the shortest run time on a synthetic problem with known solution. On other benchmarking problems without a known solution, DQN identified compatible local optima with reasonably smaller numbers of simulations compared to alternative techniques. Field-testing results reinforce the auspicious computational attributes of DQN. Overall, the results indicate that DQN is a novel and effective parallel algorithm for field-scale development optimization problems.


2002 ◽  
Vol 205 (17) ◽  
pp. 2591-2603 ◽  
Author(s):  
Eric D. Tytell ◽  
George V. Lauder

SUMMARYThe fast-start escape response is the primary reflexive escape mechanism in a wide phylogenetic range of fishes. To add detail to previously reported novel muscle activity patterns during the escape response of the bichir, Polypterus, we analyzed escape kinematics and muscle activity patterns in Polypterus senegalus using high-speed video and electromyography (EMG). Five fish were filmed at 250 Hz while synchronously recording white muscle activity at five sites on both sides of the body simultaneously (10 sites in total). Body wave speed and center of mass velocity, acceleration and curvature were calculated from digitized outlines. Six EMG variables per channel were also measured to characterize the motor pattern. P. senegalus shows a wide range of activity patterns, from very strong responses, in which the head often touched the tail, to very weak responses. This variation in strength is significantly correlated with the stimulus and is mechanically driven by changes in stage 1 muscle activity duration. Besides these changes in duration, the stage 1 muscle activity is unusual because it has strong bilateral activity, although the observed contralateral activity is significantly weaker and shorter in duration than ipsilateral activity. Bilateral activity may stiffen the body, but it does so by a constant amount over the variation we observed; therefore, P. senegalus does not modulate fast-start wave speed by changing body stiffness. Escape responses almost always have stage 2 contralateral muscle activity, often only in the anterior third of the body. The magnitude of the stage 2 activity is the primary predictor of final escape velocity.


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