scholarly journals Optimization of Link Length Fitting between an Operator and a Robot with Digital Annealer for a Leader-Follower Operation

Robotics ◽  
2022 ◽  
Vol 11 (1) ◽  
pp. 12
Author(s):  
Takuya Otani ◽  
Atsuo Takanishi ◽  
Makoto Nakamura ◽  
Koichi Kimura
Keyword(s):  
Visual Information ◽  
High Speed ◽  
Optimization Problem ◽  
Optimization Method ◽  
Combinatorial Optimization Problem ◽  
Movement Speed ◽  
Hand Position ◽  
Link Length ◽  
Heavy Burden ◽  
The Difference

In recent years, the teleoperation of robots has become widespread in practical use. However, in some current modes of robot operation, such as leader-follower control, the operator must use visual information to recognize the physical deviation between him/herself and the robot, and correct the operation instructions sequentially, which limits movement speed and places a heavy burden on the operator. In this study, we propose a leader-follower control parameter optimization method for the feedforward correction necessitated by deviations in the link length between the robot and the operator. To optimize the parameters, we used the Digital Annealer developed by Fujitsu Ltd., which can solve the combinatorial optimization problem at high speed. The main objective was to minimize the difference between the hand coordinates target and the actual hand position of the robot. In simulations, the proposed method decreased the difference between the hand position of the robot and the target. Moreover, this method enables optimum operation, in part by eliminating the need for the operator to maintain an unreasonable posture, as in some robots the operator’s hand position is unsuitable for achieving the objective.

Parameter study and optimization design of a hat oblique tunnel portal

2021 ◽  
pp. 095440972110140
Author(s):  
Zijian Guo ◽  
Tanghong Liu ◽  
Wenhui Li ◽  
Yutao Xia
Keyword(s):  
High Speed ◽  
Optimization Design ◽  
Pareto Front ◽  
Optimization Problem ◽  
Optimization Method ◽  
Design Parameters ◽  
Parameter Study ◽  
Buffer Structure ◽  
Tunnel Entrance ◽  
The Ideal

The present work focuses on the aerodynamic problems resulting from a high-speed train (HST) passing through a tunnel. Numerical simulations were employed to obtain the numerical results, and they were verified by a moving-model test. Two responses, [Formula: see text] (coefficient of the peak-to-peak pressure of a single fluctuation) and[Formula: see text] (pressure value of micro-pressure wave), were studied with regard to the three building parameters of the portal-hat buffer structure of the tunnel entrance and exit. The MOPSO (multi-objective particle swarm optimization) method was employed to solve the optimization problem in order to find the minimum [Formula: see text] and[Formula: see text]. Results showed that the effects of the three design parameters on [Formula: see text] were not monotonous, and the influences of[Formula: see text] (the oblique angle of the portal) and [Formula: see text] (the height of the hat structure) were more significant than that of[Formula: see text] (the angle between the vertical line of the portal and the hat). Monotonically decreasing responses were found in [Formula: see text] for [Formula: see text] and[Formula: see text]. The Pareto front of [Formula: see text] and[Formula: see text]was obtained. The ideal single-objective optimums for each response located at the ends of the Pareto front had values of 1.0560 for [Formula: see text] and 101.8 Pa for[Formula: see text].

scholarly journals Sensor Networks Hierarchical Optimization Model for Security Monitoring in High-Speed Railway Transport Hub

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Zhengyu Xie ◽  
Yong Qin
Keyword(s):  
Sensor Networks ◽  
Optimization Model ◽  
High Speed ◽  
Optimization Problem ◽  
Optimization Method ◽  
Hierarchical Optimization ◽  
Railway Transport ◽  
High Speed Railway ◽  
Security Monitoring

We consider the sensor networks hierarchical optimization problem in high-speed railway transport hub (HRTH). The sensor networks are optimized from three hierarchies which are key area sensors optimization, passenger line sensors optimization, and whole area sensors optimization. Case study on a specific HRTH in China showed that the hierarchical optimization method is effective to optimize the sensor networks for security monitoring in HRTH.

scholarly journals A METHOD FOOTBALL TEAM MODEL OPTIMIZATION AND APPLICATION OF THE OPTIMIZATION CONTROL

2019 ◽  
Vol 2 ◽  
pp. 84
Author(s):  
Nguyen Hoang Mai ◽  
Tran Van Dung
Keyword(s):  
Optimization Problem ◽  
Discrete Event Systems ◽  
Discrete Event ◽  
Optimization Method ◽  
Model Optimization ◽  
Football Team ◽  
Optimization Control ◽  
Team Optimization ◽  
The Difference ◽  
Team Model

The development of the AI, IoT, and Big Data have to become strongly apply to discrete event strings systems. That are modern developments of the world. Therefore, we have to have an advanced method to develop adaptive applications, especially with MIMO discrete event systems. There is a limit while using a continuous calculation to control systems because the big calculation is an obstacle. So we have to find an optimization method to reduce the number of parameters in the calculation at any time. We could do it by choice the main parameters and except auxiliary parameters. In this paper, we introduce a Football Team Optimization (FTO) method, which is a new method to do optimization problem while control with many parameters system. The application and analysis to compare any method as PSO, traditional PID, which takes out the difference of this algorithm.

An Adiabatic Quantum Algorithm for Determining Gracefulness of a Graph

2017 ◽  
Vol 72 (7) ◽  
pp. 637-645
Author(s):  
Sayed Mohammad Hosseini ◽  
Mahdi Davoudi Darareh ◽  
Shahrooz Janbaz ◽  
Ali Zaghian
Keyword(s):  
Time Complexity ◽  
Optimization Problem ◽  
Quantum Algorithm ◽  
Combinatorial Optimization Problem ◽  
Sufficient Condition ◽  
Problem Size ◽  
Edge Label ◽  
General Sufficient Condition ◽  
Graph Labelling ◽  
The Difference

AbstractGraph labelling is one of the noticed contexts in combinatorics and graph theory. Graceful labelling for a graph G with e edges, is to label the vertices of G with 0, 1, ℒ, e such that, if we specify to each edge the difference value between its two ends, then any of 1, 2, ℒ, e appears exactly once as an edge label. For a given graph, there are still few efficient classical algorithms that determine either it is graceful or not, even for trees – as a well-known class of graphs. In this paper, we introduce an adiabatic quantum algorithm, which for a graceful graph G finds a graceful labelling. Also, this algorithm can determine if G is not graceful. Numerical simulations of the algorithm reveal that its time complexity has a polynomial behaviour with the problem size up to the range of 15 qubits. A general sufficient condition for a combinatorial optimization problem to have a satisfying adiabatic solution is also derived.

Efficient Feedrate Optimization Method for Spline Toolpath With Curvature-Base Planning and Accurate Interpolating

2018 ◽  
Author(s):  
Yong Zhang ◽  
Mingyong Zhao ◽  
Peiqing Ye ◽  
Jiali Jiang ◽  
Hui Zhang
Keyword(s):  
Computational Efficiency ◽  
High Speed ◽  
Optimization Problem ◽  
Linear Optimization ◽  
Extreme Points ◽  
Optimization Method ◽  
Feedrate Optimization ◽  
Window Technique ◽  
Feedrate Fluctuation ◽  
Relationship Of

The well-designed feedrate optimization algorithm can obtain higher machining efficiency with various machining related constraints, thus, it is widely considered in the high-speed and high-precision machining. However, the low computational efficiency still limits the application of the optimization method. For the non-linear optimization problem of spline toolpath with feedrate-, actuator velocity-, acceleration- and jerk-limited, a linear approximation is adopted by a pseudo-jerk method and the efficient linear programming method can be applied to solve the optimization problem. To improve computational efficiency further, curvature-base window technique is presented and the whole spline toolpath is split at the curvature extreme points, which are also named critical points in traditional planning method. Thereafter, a novel feedback interpolation is presented based on Steffensen iterative accelerator method to eliminate the feedrate fluctuation caused by nonanalytic relationship of spline parameter and arc-length. Finally, simulations and experiments validations show that the proposed method is able to reduce computational burden and traversal time notably with multi-constraints.

Optimization of Torch Movements of Welding and Cutting Using Ant Colony Method

2009 ◽  
Vol 25 (03) ◽  
pp. 136-141
Author(s):  
Yasuhisa Okumoto
Keyword(s):  
Combinatorial Optimization ◽  
Optimization Problem ◽  
Heuristic Method ◽  
Computation Time ◽  
Optimization Method ◽  
Combinatorial Optimization Problem ◽  
Ant Colony ◽  
Hull Structure ◽  
Optimum Path ◽  
The Traveling Salesman Problem

Though many methods are applied to solve the combinatorial optimization problem, there are many cases in which the solution cannot be solved in practical computation time, even if the computer becomes more advanced. Recently the "ant colony optimization method (ACO)" has been proposed as one of the meta-heuristic method. This research tried the ACO in ship production field. Firstly, the ACO was applied and verified for the traveling salesman problem (TSP) to obtain the shortest path in many cities, as a representative combinatorial optimization problem. Next, based on the result, the ACO was applied to the problem in search of the optimum torch movement of a welding robot for the assembly of ship hull structure, and of a NC plasma cutting machine of steel plate. As a result, it was confirmed that the ACO is effective to solve the optimum path of machines.

High Speed Information Network Planning using Stochastic Optimization Method

2013 ◽  
Author(s):  
Ki-Sang Song ◽  
Arun K. Somani
Keyword(s):  
Stochastic Optimization ◽  
Network Design ◽  
Multimedia Information ◽  
High Speed ◽  
Minimum Cost ◽  
Optimization Method ◽  
Multimedia Communication ◽  
Network Design Problem ◽  
Information Network ◽  
Traffic Characteristics

From the 1994 CAIS Conference: The Information Industry in Transition McGill University, Montreal, Quebec. May 25 - 27, 1994.Broadband integrated services digital network (B-ISDN) based on the asynchronous transmission mode (ATM) is becoming reality to provide high speed, multi bit rate multimedia communications. Multimedia communication network has to support voice, video and data traffics that have different traffic characteristics, delay sensitive or loss sensitive features have to be accounted for designing high speed multimedia information networks. In this paper, we formulate the network design problem by considering the multimedia communication requirements. A high speed multimedia information network design alogrithm is developed using a stochastic optimization method to find good solutions which meet the Quality of Service (QoS) requirement of each traffic class with minimum cost.

Case study: Prediction and field tests of railway noise and effects of a low-height noise barrier

2020 ◽  
Vol 68 (4) ◽  
pp. 303-314
Author(s):  
Yuna Park ◽  
Hyo-In Koh ◽  
University of Science and Technology, Transpo ◽  
University of Science and Technology, Transpo ◽  
University of Science and Technology, Transpo ◽  
...  
Keyword(s):  
High Speed ◽  
Field Tests ◽  
Residential Areas ◽  
Railway Systems ◽  
Railway Noise ◽  
Sound Levels ◽  
Noise Barrier ◽  
The Difference ◽  
Reduction Effect ◽  
The Impact

Railway noise is calculated to predict the impact of new or reconstructed railway tracks on nearby residential areas. The results are used to prepare adequate counter- measures, and the calculation results are directly related to the cost of the action plans. The calculated values were used to produce noise maps for each area of inter- est. The Schall 03 2012 is one of the most frequently used methods for the production of noise maps. The latest version was released in 2012 and uses various input para- meters associated with the latest rail vehicles and track systems in Germany. This version has not been sufficiently used in South Korea, and there is a lack of standard guidelines and a precise manual for Korean railway systems. Thus, it is not clear what input parameters will match specific local cases. This study investigates the modeling procedure for Korean railway systems and the differences between calcu- lated railway sound levels and measured values obtained using the Schall 03 2012 model. Depending on the location of sound receivers, the difference between the cal- culated and measured values was within approximately 4 dB for various train types. In the case of high-speed trains, the value was approximately 7 dB. A noise-reducing measure was also modeled. The noise reduction effect of a low-height noise barrier system was predicted and evaluated for operating railway sites within the frame- work of a national research project in Korea. The comparison of calculated and measured values showed differences within 2.5 dB.

Inverse version of the kth maximization combinatorial optimization problem

2018 ◽  
Vol 54(5) ◽  
pp. 72
Author(s):  
Quoc, H.D. ◽  
Kien, N.T. ◽  
Thuy, T.T.C. ◽  
Hai, L.H. ◽  
Thanh, V.N.
Keyword(s):  
Combinatorial Optimization ◽  
Optimization Problem ◽  
Combinatorial Optimization Problem
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