Review on generic methods for mechanical modeling, simulation and control of soft robots

In this review paper, we are interested in the models and algorithms that allow generic simulation and control of a soft robot. First, we start with a quick overview of modeling approaches for soft robots and available methods for calculating the mechanical compliance, and in particular numerical methods, like real-time Finite Element Method (FEM). We also show how these models can be updated based on sensor data. Then, we are interested in the problem of inverse kinematics, under constraints, with generic solutions without assumption on the robot shape, the type, the placement or the redundancy of the actuators, the material behavior… We are also interested by the use of these models and algorithms in case of contact with the environment. Moreover, we refer to dynamic control algorithms based on mechanical models, allowing for robust control of the positioning of the robot. For each of these aspects, this paper gives a quick overview of the existing methods and a focus on the use of FEM. Finally, we discuss the implementation and our contribution in the field for an open soft robotics research.

Parameter Identification of Photovoltaic Models by Hybrid Adaptive JAYA Algorithm

As one of the most promising forms of renewable energy, solar energy is increasingly deployed. The simulation and control of photovoltaic (PV) systems requires identification of their parameters. A Hybrid Adaptive algorithm based on JAYA and Differential Evolution (HAJAYADE) is developed to identify these parameters accurately and reliably. The HAJAYADE algorithm consists of adaptive JAYA, adaptive DE, and the chaotic perturbation method. Two adaptive coefficients are introduced in adaptive JAYA to balance the local and global search. In adaptive DE, the Rank/Best/1 mutation operator is put forward to boost the exploration and maintain the exploitation. The chaotic perturbation method is applied to reinforce the local search further. The HAJAYADE algorithm is employed to address the parameter identification of PV systems through five test cases, and the eight latest meta-heuristic algorithms are its opponents. The mean RMSE values of the HAJAYADE algorithm from five test cases are 9.8602 × 10−4, 9.8294 × 10−4, 2.4251 × 10−3, 1.7298 × 10−3, and 1.6601 × 10−2. Consequently, HAJAYADE is proven to be an efficient and reliable algorithm and could be an alternative algorithm to identify the parameters of PV systems.

Advanced Perspectives for Modeling Simulation and Control of Power Electronic Systems

Power electronic systems have become a major issue related to advancements in consumer and industrial electronics [...]

Development of a Scenario-based Approach to Simulation Games Management

The Doctoral Thesis is elaborated in the field of scenario-based simulation game management. The essence of simulation games and their role in the learning process is studied, their advantages and disadvantages are identified. The concept of simulation game scenarios is developed that enables efficient game management by using formal methods. An integrated approach to simulation game scenario management is developed and the procedure for scenario generation, simulation and control; as well as its implementation mechanisms, are described.