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

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.

Travelling Salesman Problem Generalized Interval Arithmetic

The travelling salesman problem is one of the famous combinatorial optimization problem and has been intensively studied in the last decades. We present a new extension of the basics problem, where travel times are specified as a range of possible values. Keywords: Fuzzy sets, Arithmetic operation on interval, least common method, travelling salesman problem.

Search Graph Magnification in Rapid Mixing of Markov Chains Associated with the Local Search-Based Metaheuristics

The structural property of the search graph plays an important role in the success of local search-based metaheuristic algorithms. Magnification is one of the structural properties of the search graph. This study builds the relationship between the magnification of a search graph and the mixing time of Markov Chain (MC) induced by the local search-based metaheuristics on that search space. The result shows that the ergodic reversible Markov chain induced by the local search-based metaheuristics is inversely proportional to magnification. This result indicates that it is desirable to use a search space with large magnification for the optimization problem in hand rather than using any search spaces. The performance of local search-based metaheuristics may be good on such search spaces since the mixing time of the underlying Markov chain is inversely proportional to the magnification of search space. Using these relations, this work shows that MC induced by the Metropolis Algorithm (MA) mixes rapidly if the search graph has a large magnification. This indicates that for any combinatorial optimization problem, the Markov chains associated with the MA mix rapidly i.e., in polynomial time if the underlying search graph has large magnification. The usefulness of the obtained results is illustrated using the 0/1-Knapsack Problem, which is a well-studied combinatorial optimization problem in the literature and is NP-Complete. Using the theoretical results obtained, this work shows that Markov Chains (MCs) associated with the local search-based metaheuristics like random walk and MA for 0/1-Knapsack Problem mixes rapidly.

Comparison of various algorithms based on TSP solving

The traveling salesman problem (TSP) is a classic combinatorial optimization problem. As a hot research problem, it has been applied in many fields. Since there is currently no algorithm with good performance that can perfectly solve this problem, for the solution of the traveling salesman problem, this article first establishes a mathematical model of the traveling salesman problem, and uses four solving methods for the same case: the greedy method, Branch and bound method, dynamic programming method and genetic algorithm, analyze the applicability and accuracy of different algorithms in the same case.

mRNA codon optimization with quantum computers

Reverse translation of polypeptide sequences to expressible mRNA constructs is a NP-hard combinatorial optimization problem. Each amino acid in the protein sequence can be represented by as many as six codons, and the process of selecting the combination that maximizes probability of expression is termed codon optimization. This work investigates the potential impact of leveraging quantum computing technology for codon optimization. A Quantum Annealer (QA) is compared to a standard genetic algorithm (GA) programmed with the same objective function. The QA is found to be competitive in identifying optimal solutions. The utility of gate-based systems is also evaluated using a simulator resulting in the finding that while current generations of devices lack the hardware requirements, in terms of both qubit count and connectivity, to solve realistic problems, future generation devices may be highly efficient.

Selective Simulated Annealing for Large Scale Airspace Congestion Mitigation

This paper presents a methodology to minimize the airspace congestion of aircraft trajectories based on slot allocation techniques. The traffic assignment problem is modeled as a combinatorial optimization problem for which a selective simulated annealing has been developed. Based on the congestion encountered by each aircraft in the airspace, this metaheuristic selects and changes the time of departure of the most critical flights in order to target the most relevant aircraft. The main objective of this approach is to minimize the aircraft speed vector disorder. The proposed algorithm was implemented and tested on simulated trajectories generated with real flight plans on a day of traffic over French airspace with 8800 flights.

A Rank Based ACO Approach for Optimal Resource Allocation and Scheduling in FMS Modeled with Labelled Petri Net

In this article, we study the NP-Hard combinatorial optimization problem of the minimum initial marking (MIM) computation in labeled Petri net (L-PN) while considering a sequence of labels to minimize the resource consumption in a flexible manufacturing system (FMS), and we propose an approach based on the ant colony optimization (ACO) precisely the extension Rank-based ACO to optimal resource allocation and scheduling in FMS. The ACO meta-heuristic is inspired by the behavior of ants in foraging based on pheromones deposit. The numerical results show that the proposed algorithm obtained much better results than previous studies.

Learning Sparse Log-Ratios for High-Throughput Sequencing Data

Motivation The automatic discovery of sparse biomarkers that are associated with an outcome of interest is a central goal of bioinformatics. In the context of high-throughput sequencing (HTS) data, and compositional data (CoDa) more generally, an important class of biomarkers are the log-ratios between the input variables. However, identifying predictive log-ratio biomarkers from HTS data is a combinatorial optimization problem, which is computationally challenging. Existing methods are slow to run and scale poorly with the dimension of the input, which has limited their application to low- and moderate-dimensional metagenomic datasets. Results Building on recent advances from the field of deep learning, we present CoDaCoRe, a novel learning algorithm that identifies sparse, interpretable, and predictive log-ratio biomarkers. Our algorithm exploits a continuous relaxation to approximate the underlying combinatorial optimization problem. This relaxation can then be optimized efficiently using the modern ML toolbox, in particular, gradient descent. As a result, CoDaCoRe runs several orders of magnitude faster than competing methods, all while achieving state-of-the-art performance in terms of predictive accuracy and sparsity. We verify the outperformance of CoDaCoRe across a wide range of microbiome, metabolite, and microRNA benchmark datasets, as well as a particularly high-dimensional dataset that is outright computationally intractable for existing sparse log-ratio selection methods. Availability The CoDaCoRe package is available at https://github.com/egr95/R-codacore. Code and instructions for reproducing our results is available at https://github.com/cunningham-lab/codacore. Supplementary information Supplementary data are available at Bioinformatics online.

Implementasi Metode Tabu Search Dalam Penjadwalan Menggunakan Analisa Pieces

Nowadays, Scheduling subjects is one of the first steps for starting the teaching and learning process in educational institutions. To do so, The role of teachers and school staff is very important and not easy because it takes a long time to compile it. SMK PGRI 4 Denpasar is one of the schools located in the city of Denpasar which is located on Jalan Kebo Iwa No 8, Padangsambian Kaja, Denpasar, Bali. It is a vocational high school that has a tourism expertise and computer engineering study program. Based on current results of observations and interviews, the process of making the subject schedules that run at SMK PGRI 4 Denpasar is still being done using Microsoft Excel, this has resulted in frequent errors in managing schedules such as conflicting schedule and it takes a long time to correct it. Tabu Search is an optimization method based on local search, where the search process moves from one solution to the next by selecting the best solution which is not classified as a prohibited solution. It is a combinatorial optimization problem-solving method that is incorporated into local search methods. This method aims to streamline the process of finding the best solution of a large-scale (np-hard) combinatorial optimization problem. Tabu search method to optimize the process of making the subject schedule and combined using PIECES analysis (Performance, Information, Economic, Control, Efficiency, Services). From this analysis, several problems will be obtained, which in the end can be identified clearly and more specifically, so that we can conclude some suggestions that will help in designing a new and better system. The Tabu Search method can be used to optimize the process of making the subject schedules at SMK PGRI 4 Denpasar, so that the scheduling process will be more easier than using Microsoft Excel.

The Color Mix Problem

In this paper, we introduce a new combinatorial optimization problem entitled the color mix problem (CMP), which is a more general case of the grey pattern quadratic assignment problem (GP-QAP). Also, we propose an original hybrid genetic-iterated tabu search algorithm for heuristically solving the CMP. In addition, we present both analytical solutions and graphical visualizations of the obtained solutions, which clearly demonstrate the excellent performance of the proposed heuristic algorithm.