scholarly journals Performance Comparisons of Bio-micro Genetic Algorithms on Robot Locomotion

2020 ◽  
Author(s):  
Francisco A. Chávez-Estrada ◽  
Jacobo Sandoval-Gutierrez ◽  
Juan C. Herrera-Lozada ◽  
Mauricio Olguín-Carbajal ◽  
Daniel L. Martínez-Vázquez ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Embedded System ◽  
Processing Time ◽  
Quadruped Robot ◽  
Robot Locomotion ◽  
Real Performance ◽  
The Individual ◽  
Computational Resources ◽  
And Control ◽  
Better Than

This paper presents a novel micro-segmented genetic algorithm (μsGA) to identify the best solution for the locomotion of a quadruped robot designed on a rectangular ABS plastic platform. We compare our algorithm with three similar algorithms found in the specialized literature: a standard genetic algorithm (GA), a micro-genetic algorithm (μGA), and a micro artificial immune system (μAIS). The quadruped robot prototype guarantees the same conditions for each test. The platform was developed using 3D printing for the structure and can accommodate the mechanisms, sensors, servomechanisms as actuators. It also has an internal battery and a multicore embedded system (mES) to process and control the robot locomotion. This research proposes a μsGA that segments the individual into specific bytes. μGA techniques are applied to each segment to reduce the processing time; the same benefits as the GA are obtained, while the use of a computer and the high computational resources characteristic of the GA are avoided. This is the reason why some research in robot locomotion is limited to simulation. The results show that the performance of μsGA is better than the three other algorithms (GA, μGA and AIS). The processing time was reduced using a mES architecture that enables parallel processing, meaning that the requirements for resources and memory were reduced. This research solves the problem of continuous locomotion of a quadruped robot, and gives a feasible solution with real performance parameters using a μsGA bio-micro algorithm and a mES architecture.

scholarly journals Performance Comparisons of Bio-Micro Genetic Algorithms on Robot Locomotion

2020 ◽  
Vol 10 (11) ◽  
pp. 3863
Author(s):  
Francisco A. Chávez-Estrada ◽  
Jacobo Sandoval-Gutiérrez ◽  
Juan C. Herrera-Lozada ◽  
Mauricio Olguín-Carbajal ◽  
Daniel L. Martínez-Vázquez ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Embedded System ◽  
Computing Time ◽  
Central Pattern Generators ◽  
Quadruped Robot ◽  
Robot Locomotion ◽  
Real Performance ◽  
Pattern Generators ◽  
The Individual ◽  
Computational Resources

This paper presents a comparison of four algorithms and identifies the better one in terms of convergence to the best performance for the locomotion of a quadruped robot designed. Three algorithms found in the literature review: a standard Genetic Algorithm (GA), a micro-Genetic Algorithm ( μ GA), and a micro-Artificial Immune System ( μ AIS); the fourth algorithm is a novel micro-segmented Genetic Algorithm ( μ sGA). This research shows how the computing time affects the performance in different algorithms of the gait on the robot physically; this contribution complements other studies that are limited to simulation. The μ sGA algorithm uses less computing time since the individual is segmented into specific bytes. In contrast, the use of a computer and the high demand in computational resources for the GA are avoided. The results show that the performance of μ sGA is better than the other three algorithms (GA, μ GA and μ AIS). The quadruped robot prototype guarantees the same conditions for each test. The structure of the platform was developed by 3D printing. This structure was used to accommodate the mechanisms, sensors and servomechanisms as actuators. It also has an internal battery and a multicore Embedded System (mES) to process and control the robot locomotion. The computing time was reduced using an mES architecture that enables parallel processing, meaning that the requirements for resources and memory were reduced. For example, in the experiment of a one-second gait cycle, GA uses 700% of computing time, μ GA (76%), μ AIS (32%) and μ sGA (13%). This research solves the problem of quadruped robot’s locomotion and gives a feasible solution (Central Pattern Generators, (CPGs)) with real performance parameters using a μ sGA bio-micro algorithm and a mES architecture.

scholarly journals Networking Heterogeneous Microcontroller based Systems through Universal Serial Bus

2015 ◽  
Vol 5 (5) ◽  
pp. 992
Author(s):  
Sastry Kodanda Rama Jammalamadaka ◽  
Valluru Sai Kumar Reddy ◽  
Smt J Sasi Bhanu
Keyword(s):  
Embedded Systems ◽  
Embedded System ◽  
Error Detection ◽  
Nuclear Reactor ◽  
Universal Serial Bus ◽  
Distributed Embedded Systems ◽  
Communication Architecture ◽  
The Individual ◽  
And Control ◽  
Synchronisation Error

Networking heterogeneous embedded systems is a challenge. Every distributed embedded systems requires that the network is designed specifically considering the heterogeneity that exits among different Microcontroller based systems that are used in developing a distributed embedded system. Communication architecture, which considers the addressing of the individual systems, arbitration, synchronisation, error detection and control etc., needs to be designed considering a specific application. The issue of configuring the slaves has to be addressed. It is also important that the messages, flow of the messages across the individual ES systems must be designed. Every distributed embedded system is different and needs to be dealt with separately. This paper presents an approach that addresses various issues related to networking distributed embedded systems through use of universal serial bus communication protocol (USB). The approach has been applied to design a distributed embedded that monitors and controls temperatures within a Nuclear reactor system.

A Comparative Study of Ant and Genetic Algorithms in Digital Mammography

2018 ◽  
pp. 194-200
Author(s):  
J. Magelin Mary ◽  
Chitra K. ◽  
Y. Arockia Suganthi
Keyword(s):  
Genetic Algorithm ◽  
Image Processing ◽  
Medical Image ◽  
Medical Image Processing ◽  
Processing Technique ◽  
Input Image ◽  
Image Processing Technique ◽  
Computational Time ◽  
Image Mining ◽  
The Individual

Image processing technique in general, involves the application of signal processing on the input image for isolating the individual color plane of an image. It plays an important role in the image analysis and computer version. This paper compares the efficiency of two approaches in the area of finding breast cancer in medical image processing. The fundamental target is to apply an image mining in the area of medical image handling utilizing grouping guideline created by genetic algorithm. The parameter using extracted border, the border pixels are considered as population strings to genetic algorithm and Ant Colony Optimization, to find out the optimum value from the border pixels. We likewise look at cost of ACO and GA also, endeavors to discover which one gives the better solution to identify an affected area in medical image based on computational time.

Design of LED smart glass display and control system based on embedded system

2020 ◽  
Vol 35 (11) ◽  
pp. 1150-1155
Author(s):  
Mu-di XIONG ◽  
◽  
Yu-hang SUN ◽  
Yu-jun GUO
Keyword(s):  
Control System ◽  
Embedded System ◽  
And Control

scholarly journals Design, Construction, and Control for an Underwater Vehicle Type Sepiida

Robotica ◽  
2020 ◽  
pp. 1-18
Author(s):  
M. Garcia ◽  
P. Castillo ◽  
E. Campos ◽  
R. Lozano
Keyword(s):  
Embedded System ◽  
Closed Loop ◽  
Underwater Vehicle ◽  
Mathematical Representation ◽  
Closed Loop System ◽  
Vehicle Type ◽  
Mathematical Equations ◽  
And Control ◽  
Design Construction

SUMMARY A novel underwater vehicle configuration with an operating principle as the Sepiida animal is presented and developed in this paper. The mathematical equations describing the movements of the vehicle are obtained using the Newton–Euler approach. An analysis of the dynamic model is done for control purposes. A prototype and its embedded system are developed for validating analytically and experimentally the proposed mathematical representation. A real-time characterization of one mass is done to relate the pitch angle with the radio of displacement of the mass. In addition, first validation of the closed-loop system is done using a linear controller.

scholarly journals Interactive effects between travel behaviour and COVID-19: a questionnaire study

2021 ◽  
Author(s):  
Jinbao Zhang ◽  
Jaeyoung Lee
Keyword(s):  
Early Stage ◽  
Travel Behaviour ◽  
Interactive Effects ◽  
Factors Affecting ◽  
Individual Level ◽  
Passenger Volume ◽  
Spatial Autoregressive ◽  
Railway Passenger ◽  
The Individual ◽  
And Control

Abstract This study has two main objectives: (i) to analyse the effect of travel characteristics on the spreading of disease, and (ii) to determine the effect of COVID-19 on travel behaviour at the individual level. First, the study analyses the effect of passenger volume and the proportions of different modes of travel on the spread of COVID-19 in the early stage. The developed spatial autoregressive model shows that total passenger volume and proportions of air and railway passenger volumes are positively associated with the cumulative confirmed cases. Second, a questionnaire is analysed to determine changes in travel behaviour after COVID-19. The results indicate that the number of total trips considerably decreased. Public transport usage decreased by 20.5%, while private car usage increased by 6.4%. Then the factors affecting the changes in travel behaviour are analysed by logit models. The findings reveal significant factors, including gender, occupation and travel restriction. It is expected that the findings from this study would be helpful for management and control of traffic during a pandemic.

Sign in / Sign up

Export Citation Format

Share Document