scholarly journals Globally Optimal Redundancy Resolution with Dynamic Programming for Robot Planning: A ROS Implementation

Robotics ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 42
Author(s):  
Enrico Ferrentino ◽  
Federico Salvioli ◽  
Pasquale Chiacchio
Keyword(s):  
Dynamic Programming ◽  
Optimal Solution ◽  
Joint Space ◽  
Software Components ◽  
Redundancy Resolution ◽  
Objective Functions ◽  
Performance Indices ◽  
Software Libraries ◽  
Programming Techniques ◽  
Robotic Software

Dynamic programming techniques have proven much more flexible than calculus of variations and other techniques in performing redundancy resolution through global optimization of performance indices. When the state and input spaces are discrete, and the time horizon is finite, they can easily accommodate generic constraints and objective functions and find Pareto-optimal sets. Several implementations have been proposed in previous works, but either they do not ensure the achievement of the globally optimal solution, or they have not been demonstrated on robots of practical relevance. In this communication, recent advances in dynamic programming redundancy resolution, so far only demonstrated on simple planar robots, are extended to be used with generic kinematic structures. This is done by expanding the Robot Operating System (ROS) and proposing a novel architecture meeting the requirements of maintainability, re-usability, modularity and flexibility that are usually required to robotic software libraries. The proposed ROS extension integrates seamlessly with the other software components of the ROS ecosystem, so as to encourage the reuse of the available visualization and analysis tools. The new architecture is demonstrated on a 7-DOF robot with a six-dimensional task, and topological analyses are carried out on both its state space and resulting joint-space solution.

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.

An algorithm for the two-dimensional cutting problem of punched strips with blade length constraint

2008 ◽  
Vol 222 (11) ◽  
pp. 1443-1451 ◽  
Author(s):  
Y Cui ◽  
X Zhang ◽  
Q Wang
Keyword(s):  
Dynamic Programming ◽  
Optimal Solution ◽  
Computational Results ◽  
Two Dimensional ◽  
Blade Length ◽  
Plate Length ◽  
Length Constraint ◽  
Programming Techniques ◽  
Two Stages ◽  
Cutting Problem

This paper presents an algorithm for generating optimal T-shaped cutting patterns of punched strips. A strip contains only items of the same type. The stock plate is divided into items in two stages. First a guillotine machine cuts the plate into strips, then a stamping press punches out the items from the strips. The blade length of the guillotine machine may be shorter than the plate length. The algorithm divides the plate into two segments. Each segment contains strips of the same direction. The strip directions of the two segments are perpendicular to each other. The algorithm uses dynamic programming techniques to determine the optimal strip layouts on segments of different lengths not longer than the blade length, considers all possible combinations of two segments, and selects the best pair as the optimal solution. The computational results indicate that the new algorithm is much more efficient than the existing algorithm.

scholarly journals Optimizing Constraint Solving via Dynamic Programming

2019 ◽  
Author(s):  
Shu Lin ◽  
Na Meng ◽  
Wenxin Li
Keyword(s):  
Dynamic Programming ◽  
Optimization Problems ◽  
Optimal Solution ◽  
Search Space ◽  
Constraint Solving ◽  
Constraint Optimization ◽  
Objective Functions ◽  
Constraint Solver ◽  
Constraint Optimization Problems ◽  
Finite Domains

Constraint optimization problems (COP) on finite domains are typically solved via search. Many problems (e.g., 0-1 knapsack) involve redundant search, making a general constraint solver revisit the same subproblems again and again. Existing approaches use caching, symmetry breaking, subproblem dominance, or search with decomposition to prune the search space of constraint problems. In this paper we present a different approach--DPSolver--which uses dynamic programming (DP) to efficiently solve certain types of constraint optimization problems (COPs). Given a COP modeled with MiniZinc, DPSolver first analyzes the model to decide whether the problem is efficiently solvable with DP. If so, DPSolver refactors the constraints and objective functions to model the problem as a DP problem. Finally, DPSolver feeds the refactored model to Gecode--a widely used constraint solver--for the optimal solution. Our evaluation shows that DPSolver significantly improves the performance of constraint solving.

Recent trends in Component Based software development and Efficiency analysis of Semantic search based component retrieval Technique

2018 ◽  
pp. 105-113 ◽  
Author(s):  
Vishnu Sharma ◽  
Vijay Singh Rathore
Keyword(s):  
Software Development ◽  
Efficiency Analysis ◽  
Software Components ◽  
High Demand ◽  
Component Retrieval ◽  
Software Developer ◽  
Software Libraries ◽  
Retrieval Technique ◽  
Executable File ◽  
Recent Trends

In these days most of the software development uses preexisting software components. This approach provides plenty of benefits over the traditional development. Most of the software industries uses their own domain based software libraries where components resides in the form of modules, codes, executable file, documentations, test plans which may be used as it is or with minor changes. Due to shrinking time and high demand of software development it is necessary to use pre tested software components to ensure high functionality in software developed. Software components can be used very easily and without having the worries of errors and bugs because these are developed under expert supervision and well tested. What we have to do is just embed these components in our project. In this paper a survey got conducted over 112 software developer,testers and freelancers. In survey several issues in CBSD were identified. An efficient repository along with a component search engine is developed. All the component retrieval techniques were evaluated and compared with precise and recall method.

scholarly journals A Constrained Markovian Diffusion Model for Controlling the Pollution Accumulation

Mathematics ◽  
2021 ◽  
Vol 9 (13) ◽  
pp. 1466
Author(s):  
Beatris Adriana Escobedo-Trujillo ◽  
José Daniel López-Barrientos ◽  
Javier Garrido-Meléndez
Keyword(s):  
Dynamic Programming ◽  
Dirichlet Problem ◽  
Stochastic Control ◽  
Finite Time ◽  
Time Horizon ◽  
Closed Loop ◽  
Programming Techniques ◽  
Pollution Accumulation ◽  
Finite Time Horizon ◽  
The Cost

This work presents a study of a finite-time horizon stochastic control problem with restrictions on both the reward and the cost functions. To this end, it uses standard dynamic programming techniques, and an extension of the classic Lagrange multipliers approach. The coefficients considered here are supposed to be unbounded, and the obtained strategies are of non-stationary closed-loop type. The driving thread of the paper is a sequence of examples on a pollution accumulation model, which is used for the purpose of showing three algorithms for the purpose of replicating the results. There, the reader can find a result on the interchangeability of limits in a Dirichlet problem.

scholarly journals An evolutionary-based optimization algorithm for truss sizing design

2016 ◽  
Vol 38 (4) ◽  
pp. 307-317
Author(s):  
Pham Hoang Anh
Keyword(s):  
Local Search ◽  
Objective Function ◽  
Optimization Algorithm ◽  
Optimization Problems ◽  
Optimal Solution ◽  
The Other ◽  
Truss Structures ◽  
Benchmark Problems ◽  
Discrete Variables ◽  
Objective Functions

In this paper, the optimal sizing of truss structures is solved using a novel evolutionary-based optimization algorithm. The efficiency of the proposed method lies in the combination of global search and local search, in which the global move is applied for a set of random solutions whereas the local move is performed on the other solutions in the search population. Three truss sizing benchmark problems with discrete variables are used to examine the performance of the proposed algorithm. Objective functions of the optimization problems are minimum weights of the whole truss structures and constraints are stress in members and displacement at nodes. Here, the constraints and objective function are treated separately so that both function and constraint evaluations can be saved. The results show that the new algorithm can find optimal solution effectively and it is competitive with some recent metaheuristic algorithms in terms of number of structural analyses required.

scholarly journals One task of routing jobs in high radiation conditions

2021 ◽  
Vol 58 ◽  
pp. 94-126
Author(s):  
A.G. Chentsov ◽  
A.A. Chentsov ◽  
A.N. Sesekin
Keyword(s):  
Dynamic Programming ◽  
Numerical Solution ◽  
Model Problem ◽  
Optimal Solution ◽  
High Radiation ◽  
Dose Load ◽  
Route Problem ◽  
Precedence Conditions ◽  
Sequential Bypass ◽  
Radiation Conditions

The problem of sequential bypass of megalopolises is investigated, focused on the problem of dismantling a system of radiation hazardous objects under constraints in the form of precedence conditions. The radiation impact on the performers is assessed by the doses received during movements and during the performance of dismantling works. The route problem of minimizing the dose load of workers carrying out dismantling in one or another sequence of operations is considered. The procedure for constructing an optimal solution using a variant of dynamic programming is investigated. On this basis, an algorithm is built, implemented on a PC. Examples of the numerical solution of a model problem for the minimum dose load are given.

scholarly journals THE OPTIMAL PRINCIPLE OF BELLMAN IN THE PROBLEM OF OPTIMAL MEANS DISTRIBUTION BETWEEN ENTERPRISES FOR THE EXPANSION OF PRODUCTION

2019 ◽  
pp. 132-138 ◽  
Author(s):  
A. Tarasenko ◽  
I. Egorova
Keyword(s):  
Dynamic Programming ◽  
Nonlinear Programming ◽  
Optimal Solution ◽  
Optimal Distribution ◽  
Optimality Principle ◽  
Numerical Example ◽  
Maximum Profit ◽  
Cost Forecasting ◽  
Method Of Dynamic Programming ◽  
Minimum Costs

The method of dynamic programming has been considered, which is used in solving multiple problems in economics, on the example of using Bellman’s optimality principle for solving nonlinear programming problems. On a specific numerical example, the features of the solution have been shown in detail with all the calculations. The problem of optimal distribution of funds among enterprises for the expansion of production has been formulated, which would give the maximum total increase in output. The solution of the task has been presented in the case, when the number of enterprises is 3. It has been shown, that the Bellman optimality principle allows you solve applied problems of cost forecasting with obtaining the optimal solution-maximum profit at minimum costs.

scholarly journals Measuring the technical efficiency of local banks in UAE using rough bi-level linear programming technique

2015 ◽  
Vol 1 (1) ◽  
pp. 26
Author(s):  
Doaa Wafik ◽  
O. E. Emam
Keyword(s):  
Decision Making ◽  
Linear Programming ◽  
Technical Efficiency ◽  
Auxiliary Problem ◽  
Optimal Solution ◽  
Objective Functions ◽  
Programming Technique ◽  
Decision Making Problem ◽  
Linear Objective Functions ◽  
Linear Programming Technique

The aim of this paper is to use a bi-level linear programming technique with rough parameters in the constraints, for measuring the technical efficiency of local banks in UAE and Egypt, while the proposed linear objective functions will be maximized for different goals. Based on Dauer's and Krueger's goal programmingmethod, the described approach was developed to deal with the bi-level decision-making problem. The concept of tolerance membership function together was used to generate the optimal solution for the problem under investigation. Also an auxiliary problem is discussed to illustrate the functionality of the proposed approach.

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