scholarly journals A New Strategy for Multi- Objective Dynamic and Kinematic Optimization of Robotic Manipulators with Application in Haptic Interfaces

2021 ◽  
Author(s):  
Behrooz Alae
Keyword(s):  
Dynamic Capabilities ◽  
Design Procedure ◽  
Design Parameters ◽  
Haptic Interfaces ◽  
Optimization Strategy ◽  
Multi Objective ◽  
New Strategy ◽  
Increasing Demand ◽  
Robotic Applications

There is an increasing demand for higher performance in modern robotic applications. To meet the need for more accuracy and fast dynamic response, considering inertial effects is necessary. This thesis proposes a new global multi-objective optimization strategy to tune the geometric and dynamic capabilities of a manipulator. Then, as a case study, the kinematics and dynamic behavior of a five-bar-linkage haptic interface is analyzed and a new design procedure is obtained using a new global and constrained multi-objective technique. The minimax culling algorithm was used to design parameters for optimal kinematics and dynamic dexterity measure.

scholarly journals A New Strategy for Multi- Objective Dynamic and Kinematic Optimization of Robotic Manipulators with Application in Haptic Interfaces

2021 ◽  
Author(s):  
Behrooz Alae
Keyword(s):  
Dynamic Capabilities ◽  
Design Procedure ◽  
Design Parameters ◽  
Haptic Interfaces ◽  
Optimization Strategy ◽  
Multi Objective ◽  
New Strategy ◽  
Increasing Demand ◽  
Robotic Applications

There is an increasing demand for higher performance in modern robotic applications. To meet the need for more accuracy and fast dynamic response, considering inertial effects is necessary. This thesis proposes a new global multi-objective optimization strategy to tune the geometric and dynamic capabilities of a manipulator. Then, as a case study, the kinematics and dynamic behavior of a five-bar-linkage haptic interface is analyzed and a new design procedure is obtained using a new global and constrained multi-objective technique. The minimax culling algorithm was used to design parameters for optimal kinematics and dynamic dexterity measure.

scholarly journals Development of a Design Procedure for Class E Amplifiers

2018 ◽  
Vol 223 ◽  
pp. 01016
Author(s):  
Mattison S. Siri ◽  
David S. Cochran
Keyword(s):  
Design Procedure ◽  
Design Parameters ◽  
Specific Load ◽  
Systems Architecture ◽  
Design Decomposition ◽  
Path Dependent ◽  
Capacitance Coupling ◽  
Class E

Here, the step-by-step design procedure for a Class E amplifier is presented. An existing Class E amplifier system is described using a systems architecture approach. The design decomposition for the case study is written so that Physical Solutions (PSs; equivalent to Design Parameters) are in terms of component parameters (such as frequency or capacitance). Coupling issues are found to arise given constraints on transistor use. The design decomposition is altered to reflect the case where an amplifier is required to power a specific load. A discussion of transistor failure enables a design procedure to be developed by observing path-dependent coupling. The design procedure is tested through the design of a real amplifier. The designed amplifier is built and its performance measured.

Multi-objective Optimization of a Regenerative Rotorcraft Powerplant: Trade-off Between Overall Engine Weight and Fuel Economy

2015 ◽  
Vol 137 (12) ◽  
Author(s):  
Fakhre Ali ◽  
Konstantinos Tzanidakis ◽  
Ioannis Goulos ◽  
Vassilios Pachidis ◽  
Roberto d'Ippolito
Keyword(s):  
Fuel Economy ◽  
Pareto Front ◽  
Design Space Exploration ◽  
Design Space ◽  
Space Exploration ◽  
Design Parameters ◽  
Optimization Strategy ◽  
Multi Objective Optimization ◽  
Trade Off ◽  
Multi Objective

A computationally efficient and cost effective simulation framework has been implemented to perform design space exploration and multi-objective optimization for a conceptual regenerative rotorcraft powerplant configuration at mission level. The proposed framework is developed by coupling a comprehensive rotorcraft mission analysis code with a design space exploration and optimization package. The overall approach is deployed to design and optimize the powerplant of a reference twin-engine light rotorcraft, modeled after the Bo105 helicopter, manufactured by Airbus Helicopters. Initially, a sensitivity analysis of the regenerative engine is carried out to quantify the relationship between the engine thermodynamic cycle design parameters, engine weight, and overall mission fuel economy. Second, through the execution of a multi-objective optimization strategy, a Pareto front surface is constructed, quantifying the optimum trade-off between the fuel economy offered by a regenerative engine and its associated weight penalty. The optimum sets of cycle design parameters obtained from the structured Pareto front suggest that the employed heat effectiveness is the key design parameter affecting the engine weight and fuel efficiency. Furthermore, through quantification of the benefits suggested by the acquired Pareto front, it is shown that the fuel economy offered by the simple cycle rotorcraft engine can be substantially improved with the implementation of regeneration technology, without degrading the payload-range capability and airworthiness (one-engine-inoperative) of the rotorcraft.

A Fast 3D Inverse Design Based Multi-Objective Optimization Strategy for Design of Pumps

2009 ◽  
Author(s):  
M. Zangeneh ◽  
K. Daneshkhah
Keyword(s):  
Pareto Front ◽  
Design Method ◽  
Leading Edge ◽  
Inverse Design ◽  
Design Parameters ◽  
Optimization Strategy ◽  
Multi Objective ◽  
Multi Objective Genetic Algorithm ◽  
Pump Stage ◽  
Meridional Shape

A methodology for designing pumps to meet multi-objective design criteria is presented. The method combines a 3D inviscid inverse design method with a multi-objective genetic algorithm to design pumps which meet various aerodynamic and geometrical requirements. The parameterization of the blade shape through the blade loading enables 3D optimization with very few design parameters. A generic pump stage is used to demonstrate the proposed methodology. The main design objectives are improving cavitation performance and reducing leading edge sweep. The optimization is performed subject to certain constraints on Euler head, throat area, thickness and meridional shape so that the resulting pump can meet both design and off-design conditions. A Pareto Front is generated for the two objective functions and 3 different configurations on the Pareto front are selected for detailed study by 3D RANS code. The CFD results confirm the main outcomes of the optimization process.

scholarly journals Multi-Objective Predictive Control Optimization with Varying Term Objectives: A Wind Farm Case Study

Processes ◽  
2019 ◽  
Vol 7 (11) ◽  
pp. 778 ◽  
Author(s):  
Clara M. Ionescu ◽  
Constantin F. Caruntu ◽  
Ricardo Cajo ◽  
Mihaela Ghita ◽  
Guillaume Crevecoeur ◽  
...  
Keyword(s):  
Predictive Control ◽  
Wind Farm ◽  
Cost Effective ◽  
Optimality Criteria ◽  
Operating Conditions ◽  
Optimization Strategy ◽  
Multi Objective ◽  
Efficiency Cost

This paper introduces the incentive of an optimization strategy taking into account short-term and long-term cost objectives. The rationale underlying the methodology presented in this work is that the choice of the cost objectives and their time based interval affect the overall efficiency/cost balance of wide area control systems in general. The problem of cost effective optimization of system output is taken into account in a multi-objective predictive control formulation and applied on a windmill park case study. A strategy is proposed to enable selection of optimality criteria as a function of context conditions of system operating conditions. Long-term economic objectives are included and realistic simulations of a windmill park are performed. The results indicate the global optimal criterium is no longer feasible when long-term economic objectives are introduced. Instead, local sub-optimal solutions are likely to enable long-term energy efficiency in terms of balanced production of energy and costs for distribution and maintenance of a windmill park.

scholarly journals Multi-Objective Design Optimization of a Shape Memory Alloy Flexural Actuator

Actuators ◽  
2019 ◽  
Vol 8 (1) ◽  
pp. 13 ◽  
Author(s):  
Casey D. Haigh ◽  
John H. Crews ◽  
Shiquan Wang ◽  
Gregory D. Buckner
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Design Optimization ◽  
Flexural Rigidity ◽  
Pareto Frontier ◽  
Design Parameters ◽  
Optimization Strategy ◽  
Multi Objective ◽  
Critical Design ◽  
Multi Objective Genetic Algorithm

This paper presents a computational model and design optimization strategy for shape memory alloy (SMA) flexural actuators. These actuators consist of curved SMA wires embedded within elastic structures; one potential application is positioning microcatheters inside blood vessels during clinical treatments. Each SMA wire is shape-set to an initial curvature and inserted along the neutral axis of a straight elastic member (cast polydimethylsiloxane, PDMS). The elastic structure preloads the SMA, reducing the equilibrium curvature of the composite actuator. Temperature-induced phase transformations in the SMA are achieved via Joule heating, enabling strain recovery and increased bending (increased curvature) in the actuator. Actuator behavior is modeled using the homogenized energy framework, and the effects of two critical design parameters (initial SMA curvature and flexural rigidity of the elastic sleeve) on activation curvature are investigated. Finally, a multi-objective genetic algorithm is utilized to optimize actuator performance and generate a Pareto frontier, which is subsequently experimentally validated.

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