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The measurement and improvement of task agility, the ability of a manipulator to effectively handle multiple task types, has become increasingly important in the manufacturing industry as efforts are made to design more versatile and efficient factories. Task agility is crucial to the performance of kinematically redundant manipulators in complex manufacturing workspaces that involve several physical...
This paper is directed towards the development of the Arithmetic and Visual Logic-based representations for classical nonlinear systems modeling and optimization. The concept was originally proposed by Gabr and Dorrah for linear system using the notion of the normalized fuzzy matrices. In this concept, the arithmetic fuzzy logic-based representation type is suggested based on dual cell representation,...
The generalization error of support vector machine usually depends on its kernel parameters, but there is no analytic method to choose kernel parameters for SVM. In order to choose the kernel parameters for SVM, the simulated annealing algorithm and genetic algorithm are combined, which is called simulated annealing genetic algorithm (SA-GA), to choose the SVM kernel parameters. SA-GA makes use of...
This paper investigates the multi-objective optimization Pareto genetic algorithms (MOPGA) for searching alternative non-dominated Pareto-optimal solutions. A kind of niching approach using clustering crowding and fast elite updating is designed to maintain population diversity and uniform distribution of non-dominated solutions. The time complexity analysis shows clustering crowding and fast elite...
This paper addresses parameter optimization of Van der Pol (VDP) oscillator driving a weeding manipulator, which exploits its own oscillatory motion to achieve efficient force generation. The author has confirmed the effectiveness of the exploitation in force generation using simulations. The simulation results have shown that a method using the VDP oscillator attains a superior performance to one...
Controlling a continuum robot in a constrained environment constitutes a real challenge due to the nature of this robot and its bending properties. The navigation in un-structured environments, such as surgical operations, presents a potential application of the use of such robots. In this paper, a new formulation of a continuum robot forward kinematics is presented firstly. In a second step, an analytical...
Bacterial Foraging Optimization (BFO) is a novel heuristic algorithm inspired from forging behavior of E. coli. After analysis of optimization mechanism, a series of measures are taken to improve the classic BFO and we call it iBFO. In the modified method, both of search scope and chemotaxis step varies dynamically, which can markably accelerate the convergence and enhance the searching precision...
This paper presents a robust controller based on the application of the linear matrix inequalities (LMI) to solve the swinging up and stabilization problem of a serial double inverted pendulum (SDIP), which is of complicate nonlinearities and limitations of actuator and sensors. The designed H-infinity robust controller was optimized to realize the required objectives and eliminate the negative effect...
A model predictive control (MPC) is proposed for a multi-joint manipulator with constrained input. With linearization around the equilibrium manifold, the manipulator was transformed into a continuous linear parameter varying system with respect to the equilibrium manifold. The corresponding manipulator system is described as polytopic expression by a convex decomposition. The control law is obtained...
To update the performance of the standard optimization method, a modified particle swarm optimization (MPSO) algorithm is proposed based on the earlier works. An asymmetric time-varying acceleration coefficients adjusting strategy introduced in this paper is to keep the balance between the global search and the local search with the great advantages of convergence property and robustness compared...
Algorithms for feature-based surface fitting in meshes were presented. Most algorithms for fitting surfaces to meshes do not provide information about high-level form features. Such features convey the designer's intent in the context of the expected application. This research addresses the problem by developing a framework to incorporate high-level freeform features in the solid model. As part of...
In this paper, global optimization approach using particle swarm optimization technique for motion planning of dynamic coupling robotic manipulators, involving the optimization of dynamic performance criteria, has been shown to exhibit certain advantages compared with local optimizers. In this approach, the joint torques of the robotic manipulator are approximated by parameterized B-spline functions,...
This paper presents a novel approach for control of the yoyo playing, using return map parameterization The return map is a scalar function that maps the initial amplitude of the yoyo and the parameter (an intermediate state of the yoyo) to the final amplitude. The optimization programs can be combined with a standard one-degree zero-finding routine to search for an appropriate value of the parameter,...
We adopt multi-point planning method based on cubic spline function to perform parametric design of dynamic walking. The objective of optimization is to achieve maximum ZMP stability and minimum joint driving torque, together with the combination of multi-objective genetic algorithm to optimize the gait parameters. Simulation verification has also been carried out in ADAMS and Matlab after optimization...
In this paper, the motion optimization for robotic manipulators is investigated by Support Area Level Set Algorithm (SALAS) through optimizing a high-dimensional nonlinear fitness function. The approach based on level set conception and the ability of Support Vector Machine(SVM) in distribution estimation integrates duel stages sampling strategies to avoid be converge in small search field too early...
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