scholarly journals Optimum design of 3R robot manipulador by using Improved Differential Evolution implemented in parallel computation

2020 ◽  
Vol 1 (2) ◽  
pp. 83-103
Author(s):  
Sezimária De Fátima Pereira Saramago ◽  
José Laércio Doricio ◽  
Milena Almeida Leite Brandão
Keyword(s):  
Differential Evolution ◽  
Optimization Problems ◽  
Robot Manipulator ◽  
Optimal Solution ◽  
Optimization Method ◽  
Objective Functions ◽  
Basic Algorithm ◽  
Promising Alternative ◽  
Multi Objective ◽  
De Algorithm

In recent decades the great interest in Evolutionary Algorithms (EAs) has boosted their development leading to a significant improvement in their efficiency and applicability. Thus, EAs have been applied to solve optimization problems in different areas of knowledge. A promising optimization method known as Differential Evolution (DE), which belongs to the class of AEs, has attracted the attention of researchers. The DE algorithm is simple, robust and efficient. However, by testing with classical optimization problems noticed that sometimes the results obtained with DE are not as satisfactory as expected or that in many cases the algorithm ends the search for the optimal solution prematurely. Recently, with the advancement and greater availability of computer technology, the scientific community has been thinking about the implementation of optimization algorithms in parallel in order to reduce the processing time. The main objective of this paper is to present an improvement of the Differential Evolution optimization method, proposing modifications to the basic algorithm by using shuffled complex and making it able to work with parallel computing. The proposed methodology is applied to the optimal design of an orthogonal 3R robot manipulator that takes into account the characteristics of its workspace. For this purpose, a multi-objective optimization problem is formulated to obtain the optimal geometric parameters for the robot. The maximum workspace volume, the maximum system stiffness and the optimum dexterity are considered as the multi-objective functions. The results show that the procedure represents a promising alternative for the type of problem presented above.

Multi-Objective Trajectory Optimization of Free-Floating Space Manipulator Using NSGA-II

2015 ◽  
Vol 713-715 ◽  
pp. 800-804 ◽  
Author(s):  
Gang Chen ◽  
Cong Wei ◽  
Qing Xuan Jia ◽  
Han Xu Sun ◽  
Bo Yang Yu
Keyword(s):  
Trajectory Optimization ◽  
Interpolation Method ◽  
Optimal Solution ◽  
Optimization Method ◽  
Joint Space ◽  
Motion Path ◽  
Objective Functions ◽  
Nsga Ii ◽  
Space Manipulator ◽  
Multi Objective

In this paper, a kind of multi-objective trajectory optimization method based on non-dominated sorting genetic algorithm II (NSGA-II) is proposed for free-floating space manipulator. The aim is to optimize the motion path of the space manipulator with joint angle constraints and joint velocity constraints. Firstly, the kinematics and dynamics model are built. Secondly, the 3-5-3 piecewise polynomial is selected as interpolation method for trajectory planning of joint space. Thirdly, three objective functions are established to simultaneously minimize execution time, energy consumption and jerk of the joints. At last, the objective functions are combined with the NSGA-II algorithm to get the Pareto optimal solution set. The effectiveness of the mentioned method is verified by simulations.

scholarly journals Designation of Candidate Solutions in Differential Evolution Based on Bandit Algorithm and its Evaluation

2019 ◽  
Vol 23 (4) ◽  
pp. 758-766
Author(s):  
Masaya Sakakibara ◽  
◽  
Akira Notsu ◽  
Seiki Ubukata ◽  
Katsuhiro Honda
Keyword(s):  
Differential Evolution ◽  
Optimization Problems ◽  
Search Algorithm ◽  
Random Search ◽  
Optimal Solution ◽  
Search Space ◽  
Optimization Method ◽  
Local Solution ◽  
Search Speed ◽  
Mathematical Programming Problems

We propose UCT-Grid Area Search (UCT-GAS), which is an efficient optimization method that roughly estimates specific values in areas, and consider exploration and exploitation in optimization problems. This approach divides the search space and imagines it to be a multi-armed bandit, which enables us to use bandit algorithms to solve mathematical programming problems. Although the search speed is fast than other search algorithm like differential evolution, it might converge to a local solution. In this study, we improve this algorithm by replacing its random search part with differential evolution after several searches. Comparative experiments confirmed the search ability of the optimal solution, and our method benefits by showing that it avoids falling into a local solution and that its search speed is fast.

Optimization Method RasID-GA for Numerical Constrained Optimization Problems

2007 ◽  
Vol 11 (5) ◽  
pp. 469-477 ◽  
Author(s):  
Dongkyu Sohn ◽  
◽  
Shingo Mabu ◽  
Kotaro Hirasawa ◽  
Jinglu Hu
Keyword(s):  
Genetic Algorithm ◽  
Constrained Optimization ◽  
Optimization Problems ◽  
Random Search ◽  
Optimal Solution ◽  
Solution Space ◽  
Optimization Method ◽  
Penalty Functions ◽  
Objective Functions ◽  
Constrained Optimization Problems

This paper proposes Adaptive Random search with Intensification and Diversification combined with Genetic Algorithm (RasID-GA) for constrained optimization. In the previous work, we proposed RasID-GA which combines the best properties of RasID and Genetic Algorithm for unconstrained optimization problems. In general, it is very difficult to find an optimal solution for constrained optimization problems because their feasible solution space is very limited and they should consider the objective functions and constraint conditions. The conventional constrained optimization methods usually use penalty functions to solve given problems. But, it is generally recognized that the penalty function is hard to handle in terms of the balance between penalty functions and objective functions. In this paper, we propose a constrained optimization method using RasID-GA, which solves given problems without using penalty functions. The proposed method is tested and compared with Evolution Strategy with Stochastic Ranking using well-known 11 benchmark problems with constraints. From the Simulation results, RasID-GA can find an optimal solution or approximate solutions without using penalty functions.

scholarly journals A Method for Integration of Preferences to a Multi-Objective Evolutionary Algorithm Using Ordinal Multi-Criteria Classification

2021 ◽  
Vol 26 (2) ◽  
pp. 27
Author(s):  
Alejandro Castellanos-Alvarez ◽  
Laura Cruz-Reyes ◽  
Eduardo Fernandez ◽  
Nelson Rangel-Valdez ◽  
Claudia Gómez-Santillán ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Selective Pressure ◽  
Optimization Problems ◽  
Region Of Interest ◽  
Decision Makers ◽  
Multiple Objective ◽  
Objective Functions ◽  
Multi Objective ◽  
Imperfect Knowledge ◽  
Real World Problems

Most real-world problems require the optimization of multiple objective functions simultaneously, which can conflict with each other. The environment of these problems usually involves imprecise information derived from inaccurate measurements or the variability in decision-makers’ (DMs’) judgments and beliefs, which can lead to unsatisfactory solutions. The imperfect knowledge can be present either in objective functions, restrictions, or decision-maker’s preferences. These optimization problems have been solved using various techniques such as multi-objective evolutionary algorithms (MOEAs). This paper proposes a new MOEA called NSGA-III-P (non-nominated sorting genetic algorithm III with preferences). The main characteristic of NSGA-III-P is an ordinal multi-criteria classification method for preference integration to guide the algorithm to the region of interest given by the decision-maker’s preferences. Besides, the use of interval analysis allows the expression of preferences with imprecision. The experiments contrasted several versions of the proposed method with the original NSGA-III to analyze different selective pressure induced by the DM’s preferences. In these experiments, the algorithms solved three-objectives instances of the DTLZ problem. The obtained results showed a better approximation to the region of interest for a DM when its preferences are considered.

scholarly journals Differential Evolution with Population and Strategy Parameter Adaptation

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
V. Gonuguntla ◽  
R. Mallipeddi ◽  
Kalyana C. Veluvolu
Keyword(s):  
Differential Evolution ◽  
Population Size ◽  
Optimization Problems ◽  
Search Space ◽  
Benchmark Problems ◽  
Parameter Adaptation ◽  
De Algorithm ◽  
Probabilistic Technique ◽  
Number Of Individuals ◽  
Strategy Parameters

Differential evolution (DE) is simple and effective in solving numerous real-world global optimization problems. However, its effectiveness critically depends on the appropriate setting of population size and strategy parameters. Therefore, to obtain optimal performance the time-consuming preliminary tuning of parameters is needed. Recently, different strategy parameter adaptation techniques, which can automatically update the parameters to appropriate values to suit the characteristics of optimization problems, have been proposed. However, most of the works do not control the adaptation of the population size. In addition, they try to adapt each strategy parameters individually but do not take into account the interaction between the parameters that are being adapted. In this paper, we introduce a DE algorithm where both strategy parameters are self-adapted taking into account the parameter dependencies by means of a multivariate probabilistic technique based on Gaussian Adaptation working on the parameter space. In addition, the proposed DE algorithm starts by sampling a huge number of sample solutions in the search space and in each generation a constant number of individuals from huge sample set are adaptively selected to form the population that evolves. The proposed algorithm is evaluated on 14 benchmark problems of CEC 2005 with different dimensionality.

Multi Objective Design Optimization of Two Bar Truss Using NSGA II and TOPSIS

2014 ◽  
Vol 984-985 ◽  
pp. 419-424
Author(s):  
P. Sabarinath ◽  
M.R. Thansekhar ◽  
R. Saravanan
Keyword(s):  
Design Optimization ◽  
Optimization Problems ◽  
Optimization Methods ◽  
Optimal Solutions ◽  
Objective Functions ◽  
Nsga Ii ◽  
Multi Objective ◽  
Total Displacement ◽  
Design Variables ◽  
Conflicting Objectives

Arriving optimal solutions is one of the important tasks in engineering design. Many real-world design optimization problems involve multiple conflicting objectives. The design variables are of continuous or discrete in nature. In general, for solving Multi Objective Optimization methods weight method is preferred. In this method, all the objective functions are converted into a single objective function by assigning suitable weights to each objective functions. The main drawback lies in the selection of proper weights. Recently, evolutionary algorithms are used to find the nondominated optimal solutions called as Pareto optimal front in a single run. In recent years, Non-dominated Sorting Genetic Algorithm II (NSGA-II) finds increasing applications in solving multi objective problems comprising of conflicting objectives because of low computational requirements, elitism and parameter-less sharing approach. In this work, we propose a methodology which integrates NSGA-II and Technique for Order Preference by Similarity to Ideal Solution (TOPSIS) for solving a two bar truss problem. NSGA-II searches for the Pareto set where two bar truss is evaluated in terms of minimizing the weight of the truss and minimizing the total displacement of the joint under the given load. Subsequently, TOPSIS selects the best compromise solution.

Sign in / Sign up

Export Citation Format

Share Document