scholarly journals Optimization of DH Parameters of 6R Robotic Manipulator Using JAYA Approach

2022 ◽  
Vol 12 (1) ◽  
pp. 0-0
Keyword(s):  
Job Performance ◽  
Measurement Errors ◽  
Experimental Validation ◽  
Optimization Problems ◽  
Robotic Manipulator ◽  
Sensor Faults ◽  
Estimation Problems ◽  
Hardware Faults ◽  
Forward Kinematic

Manipulation of robots is carried out by the operators through a sequence of commands. However, the accuracy of the manipulation is still hindered due to parameter uncertainty. This results in less accurate robotic operations and hence affects the job performance. Due to measurement errors and sensor faults, the operation of robots malfunctions. Generally, errors are reduced with the use of high precision sensors and correcting hardware faults. However, corrections can also be made on a software platform to handle the correction process. Presently, the Denavit–Hartenberg (DH) parameters of a robotic manipulator are optimized for forward kinematics problems. The optimization is carried out using the JAYA approach. The 6R MTAB Aristo XT robot is selected as a case study for the experimental validation of the proposed approach. Experimental results reveal that the optimization of DH parameters improves accuracy for forward kinematic estimation problems. The proposed JAYA approach can further be extended to other robotic manipulators for parameter optimization problems.

scholarly journals Analysis of the System of Controlling Paid Parking Zones

2021 ◽  
Vol 13 (8) ◽  
pp. 4211
Author(s):  
Maciej Kozłowski ◽  
Andrzej Czerepicki ◽  
Piotr Jaskowski ◽  
Kamil Aniszewski
Keyword(s):  
Control System ◽  
Smart City ◽  
Measurement Errors ◽  
Fundamental Problem ◽  
Urban Traffic ◽  
Statistical Dependence ◽  
Actual State ◽  
Event Time ◽  
Operational Data

Urban traffic can be curbed in various ways, for instance, by introducing paid unguarded parking zones (PUPZ). The operational functionality of this system depends on whether or not the various system features used to document parking cases function properly, including those which enable positioning of vehicles parked in the PUPZ, recognition of plate numbers, event time recording, and the correct anonymisation of persons and other vehicles. The most fundamental problem of this system is its reliability, understood as the conformity of control results with the actual state of matters. This characteristic can be studied empirically, and this article addresses the methodology proposed for such an examination, discussed against a case study. The authors have analysed the statistical dependence of the e-control system’s measurement errors based on operational data. The results of this analysis confirm the rationale behind the deployment of the e-control system under the implementation of the smart city concept in Warsaw.

scholarly journals A Modified NM-PSO Method for Parameter Estimation Problems of Models

2012 ◽  
Vol 2012 ◽  
pp. 1-12 ◽  
Author(s):  
An Liu ◽  
Erwie Zahara ◽  
Ming-Ta Yang
Keyword(s):  
Genetic Algorithm ◽  
Parameter Estimation ◽  
Particle Swarm Optimization ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Optimization Problems ◽  
Particle Swarm ◽  
Swarm Optimization ◽  
Wide Range ◽  
Estimation Problems

Ordinary differential equations usefully describe the behavior of a wide range of dynamic physical systems. The particle swarm optimization (PSO) method has been considered an effective tool for solving the engineering optimization problems for ordinary differential equations. This paper proposes a modified hybrid Nelder-Mead simplex search and particle swarm optimization (M-NM-PSO) method for solving parameter estimation problems. The M-NM-PSO method improves the efficiency of the PSO method and the conventional NM-PSO method by rapid convergence and better objective function value. Studies are made for three well-known cases, and the solutions of the M-NM-PSO method are compared with those by other methods published in the literature. The results demonstrate that the proposed M-NM-PSO method yields better estimation results than those obtained by the genetic algorithm, the modified genetic algorithm (real-coded GA (RCGA)), the conventional particle swarm optimization (PSO) method, and the conventional NM-PSO method.

scholarly journals Measuring Job Performance of The Economic Creative Business upon Women Enterpreneurs Base (Case Study at Online Bunda Community Bogor Branch Using Balance Scorecard Approach)

2018 ◽  
Vol 3 (1) ◽  
pp. 67
Author(s):  
Indar Khaerunnisa
Keyword(s):  
Job Performance ◽  
Online Community ◽  
Business Processes ◽  
Secondary Data ◽  
Base Case ◽  
Balance Scorecard ◽  
The Past ◽  
Financial Perspective ◽  
Coverage Measurement

Balance scorecard has a privilege in terms of coverage measurement whichis a fairly comprehensive because while taking into consideration the financialperformance. Balance scorecard also consider the performance of non-financialperformance, namely customer, internal business processes, and learning and growth.Referring to the problems encountered by Member of Bunda Online Community, thisresearch examines: "Analysis of Company's Performance by Using BalancedScorecard Approach (A Case Study Economic Creative Entrepreneur at Bunda OnlineCommunity)." Because until now Bunda Online Community has not been using thebalanced scorecard to measure its job performance. The population of this study arepermanent employees and 100 samples are taken as respondents. As for thecustomer respondents specified by 52 respondents total reseller and costumer inBogor is only 52 reseller and costumer, however, it has obtained only 30 respondentswho participated. Data used in this study are primary and secondary data. Based onthe research and analysis, it can be concluded several things as the following: 1) Theperformance of the financial perspective on Economic Creative Entrepreneur in BundaOnline Community as a whole can be inferred or quite enough, in general financialratios increased except ROA and TATO. 2) The performance of the customerperspective on Economic Creative Entrepreneur in Bunda Online Community as awhole can be inferred bad, because of poor customer satisfaction in the company'sability to maintain customer retention is also bad while in the company's ability to docustomer acquisition is medium. 3) The performance of internal business processperspective on Economic Creative Entrepreneur in Bunda Online Community isenough, because innovation occurs only once during the past two years and there isnot declining operating activities due to consistent time on the production clothingprocess. 4) The performance of learning and growth perspective in the EconomicCreative Entrepreneur in Bunda Online Community may be concluded either onaspects of employee turnover or both criteria which decreasing employee productivity.Level of employee satisfaction is concluded less satisfied.

scholarly journals Meerkat Clan Algorithm: A New Swarm Intelligence Algorithm

2018 ◽  
Vol 10 (1) ◽  
pp. 354
Author(s):  
Ahmed T. Sadiq Al-Obaidi ◽  
Hasanen S. Abdullah ◽  
Zied O. Ahmed
Keyword(s):  
Swarm Intelligence ◽  
Optimization Problems ◽  
Optimal Solution ◽  
Traveling Salesman ◽  
Organizational Skills ◽  
Suricata Suricatta ◽  
Kalahari Desert ◽  
Intelligence Algorithm ◽  
Swarm Intelligence Algorithm

<p>Evolutionary computation and swarm intelligence meta-heuristics are exceptional instances that environment has been a never-ending source of creativeness. The behavior of bees, bacteria, glow-worms, fireflies and other beings have stirred swarm intelligence scholars to create innovative optimization algorithms. This paper proposes the Meerkat Clan Algorithm (MCA) that is a novel swarm intelligence algorithm resulting from watchful observation of the Meerkat (Suricata suricatta) in the Kalahari Desert in southern Africa. This animal shows an exceptional intelligence, tactical organizational skills, and remarkable directional cleverness in its traversal of the desert when searching for food. A Meerkat Clan Algorithm (MCA) proposed to solve the optimization problems through reach the optimal solution by efficient way comparing with another swarm intelligence. Traveling Salesman Problem uses as a case study to measure the capacity of the proposed algorithm through comparing its results with another swarm intelligence. MCA shows its capacity to solve the Traveling Salesman’s Problem. Its dived the solutions group to sub-group depend of meerkat behavior that gives a good diversity to reach an optimal solution. Paralleled with the current algorithms for resolving TSP by swarm intelligence, it has been displayed that the size of the resolved problems could be enlarged by adopting the algorithm proposed here.</p>

DIFFERENT APPROACHES IN MULTIPLE-CRITERIA OPTIMIZATION USING THE TAGUCHI METHOD: A CASE STUDY IN A COLD HEADING PROCESS

2004 ◽  
Vol 03 (01) ◽  
pp. 53-68 ◽  
Author(s):  
A. S. MILANI ◽  
C. EL-LAHHAM ◽  
J. A. NEMES
Keyword(s):  
Taguchi Method ◽  
Optimization Problems ◽  
Real Life ◽  
Multiple Attribute Decision Making ◽  
Multiple Criteria ◽  
Multiple Criteria Optimization ◽  
Multiple Attribute ◽  
Overall Evaluation ◽  
Decision Making Model

Real life engineering problems usually require the satisfaction of different, potentially conflicting criteria. Design optimization, on the other hand, based on the conventional Taguchi method cannot accommodate more than one response. However, by the use of the overall evaluation criterion approach, the method can be applied to multiple-criteria optimization problems. This paper presents the use of different utility function methods as well as a multiple attribute decision-making model in the multiple-criteria optimization of a cold heading process. Different aspects of each method are discussed and compared.

Sign in / Sign up

Export Citation Format

Share Document