Optimum control of a flexible single link manipulator with Artificial Bee Colony Algorithm

Author(s):  
Sezgin Eser ◽  
Sevda Telli Çetin

This paper presents a stable control for a single link flexible manipulator. The flexible manipulator is considered as Euler–Bernoulli beam, and its dynamic model is developed based on assumed mode method. Position and vibration control are realised with a single controller as motor torque. The controller has three parameters that must be selected. In this paper, the main motivation is to find the suitable parameter values to generate optimum torque values in every sampling time. In order to achieve this goal, Artificial Bee Colony Algorithm is performed, and the controller parameters are optimised simultaneously in every sampling period. Simulations verify that the manipulator achieves the position control objective, and the vibration is suppressed simultaneously even with different payloads with the proposed optimisation method.

2020 ◽  
Vol 38 (9A) ◽  
pp. 1384-1395
Author(s):  
Rakaa T. Kamil ◽  
Mohamed J. Mohamed ◽  
Bashra K. Oleiwi

A modified version of the artificial Bee Colony Algorithm (ABC) was suggested namely Adaptive Dimension Limit- Artificial Bee Colony Algorithm (ADL-ABC). To determine the optimum global path for mobile robot that satisfies the chosen criteria for shortest distance and collision–free with circular shaped static obstacles on robot environment. The cubic polynomial connects the start point to the end point through three via points used, so the generated paths are smooth and achievable by the robot. Two case studies (or scenarios) are presented in this task and comparative research (or study) is adopted between two algorithm’s results in order to evaluate the performance of the suggested algorithm. The results of the simulation showed that modified parameter (dynamic control limit) is avoiding static number of limit which excludes unnecessary Iteration, so it can find solution with minimum number of iterations and less computational time. From tables of result if there is an equal distance along the path such as in case A (14.490, 14.459) unit, there will be a reduction in time approximately to halve at percentage 5%.


2013 ◽  
Vol 32 (12) ◽  
pp. 3326-3330
Author(s):  
Yin-xue ZHANG ◽  
Xue-min TIAN ◽  
Yu-ping CAO

2019 ◽  
Vol 17 ◽  
Author(s):  
Yanqiu Yao ◽  
Xiaosa Zhao ◽  
Qiao Ning ◽  
Junping Zhou

Background: Glycation is a nonenzymatic post-translational modification process by attaching a sugar molecule to a protein or lipid molecule. It may impair the function and change the characteristic of the proteins which may lead to some metabolic diseases. In order to understand the underlying molecular mechanisms of glycation, computational prediction methods have been developed because of their convenience and high speed. However, a more effective computational tool is still a challenging task in computational biology. Methods: In this study, we showed an accurate identification tool named ABC-Gly for predicting lysine glycation sites. At first, we utilized three informative features, including position-specific amino acid propensity, secondary structure and the composition of k-spaced amino acid pairs to encode the peptides. Moreover, to sufficiently exploit discriminative features thus can improve the prediction and generalization ability of the model, we developed a two-step feature selection, which combined the Fisher score and an improved binary artificial bee colony algorithm based on support vector machine. Finally, based on the optimal feature subset, we constructed the effective model by using Support Vector Machine on the training dataset. Results: The performance of the proposed predictor ABC-Gly was measured with the sensitivity of 76.43%, the specificity of 91.10%, the balanced accuracy of 83.76%, the area under the receiver-operating characteristic curve (AUC) of 0.9313, a Matthew’s Correlation Coefficient (MCC) of 0.6861 by 10-fold cross-validation on training dataset, and a balanced accuracy of 59.05% on independent dataset. Compared to the state-of-the-art predictors on the training dataset, the proposed predictor achieved significant improvement in the AUC of 0.156 and MCC of 0.336. Conclusion: The detailed analysis results indicated that our predictor may serve as a powerful complementary tool to other existing methods for predicting protein lysine glycation. The source code and datasets of the ABC-Gly were provided in the Supplementary File 1.


Author(s):  
Haiqing Liu ◽  
Jinmeng Qu ◽  
Yuancheng Li

Background: As more and more renewable energy such as wind energy is connected to the power grid, the static economic dispatch in the past cannot meet its needs, so the dynamic economic dispatch of the power grid is imperative. Methods: Hence, in this paper, we proposed an Improved Differential Evolution algorithm (IDE) based on Differential Evolution algorithm (DE) and Artificial Bee Colony algorithm (ABC). Firstly, establish the dynamic economic dispatch model of wind integrated power system, in which we consider the power balance constraints as well as the generation limits of thermal units and wind farm. The minimum power generation costs are taken as the objectives of the model and the wind speed is considered to obey the Weibull distribution. After sampling from the probability distribution, the wind speed sample is converted into wind power. Secondly, we proposed the IDE algorithm which adds the local search and global search thoughts of ABC algorithm. The algorithm provides more local search opportunities for individuals with better evolution performance according to the thought of artificial bee colony algorithm to reduce the population size and improve the search performance. Results: Finally, simulations are performed by the IEEE-30 bus example containing 6 generations. By comparing the IDE with the other optimization model like ABC, DE, Particle Swarm Optimization (PSO), the experimental results show that obtained optimal objective function value and power loss are smaller than the other algorithms while the time-consuming difference is minor. The validity of the proposed method and model is also demonstrated. Conclusion: The validity of the proposed method and the proposed dispatch model is also demonstrated. The paper also provides a reference for economic dispatch integrated with wind power at the same time.


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