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We studied the joint replenishment problem with deterministic resource restriction. A differential evolution (DE) algorithm that uses indirect grouping strategy to solve constrained joint replenishment is presented. The procedure and structure of the DE algorithm is proposed. Extensive computational experiments are performed to compare the performances of the DE algorithm with results of genetic algorithm...
This paper presents the parameter optimization of the fuzzy logic controller (FLC) for the Functional Electrical Stimulation (FES)-assisted elliptical stepping exercise. The FLC is used to control the cadence of the elliptical stepping exercise for smooth exercise movement. Genetic algorithm (GA) and particle swarm optimization (PSO) are used to optimize the parameters of the FLC. Both algorithms...
Robotics for rehabilitation and human amplification is imminent to become part of our daily life. The juxtaposition of human control capability and machine mechanical power offers a promising solution for human assistance and force enhancement. This paper presents an alternative and simple exoskeleton Human-Machine Interface (HMI) for human strength and endurance amplification using a modified version...
The electro-hydraulic position servo system is researched to simulate with AMESim and Matlab based on their own characteristics and the simulation method associated with them. The system parameter is optimized in the AMESim/Matlab environment, which gives the simulation and optimization results. By this method, the research on large electro-hydraulic system joint simulation and parameter optimization...
This paper presents a pioneering approach for weld bead detection in radiographic images obtained by the Double Wall Double Image (DWDI) technique. Such task constitutes an essential step for several high level processes, such as fully automatic flaw identification on welded joints. Sets of sample pixels, corresponding to candidate solutions provided by a genetic algorithm (GA), are compared to pre-defined...
In this paper, we present the optimum objective function for snatch weightlifting using genetic algorithm optimization. Therefore, it would be possible to study snatch weightlifting more accurately, because the biomechanical parameters in this movement including the body trajectory and forces and torques acting in the joints, depend on the objective function. In this study, kinematics and dynamics...
Functional electrical stimulation (FES) is the most commonly used system for restoring functions after spinal cord injury (SCI). In this study, we used a combined feedforward-feedback PID controller for regulating the elbow joint angle. Feedforward controller is unable to make corrections if the actual angle deviates from the desired angle. Feedback controller monitors the system output, so it can...
In this paper a hybrid control system for a novel small scale coaxial helicopter is presented. Based on a cascade architecture the control system is made up of an inner-loop, for attitude control, and an outer-loop, for trajectory control. The inner-loop consists of three PID controllers for the roll and pitch angles, and altitude control. The outer-loop generates the reference signals for the inner-loop...
The use of electrical signals to restore the function of paralyzed muscles is called functional electrical stimulation (FES). FES is a promising method to restore mobility to individuals paralyzed due to spinal cord injury. FES induced movement control is a significantly challenging area, mainly emanating from various characteristics of the underlying physiological/biomechanical system. An approach...
A balancing controller using LQR approach and GA method is designed for three-link acrobot. The three-link acrobot we studied is not actuated by torque but acceleration, which has more significant than the common one. We establish the model of the acrobot, which consists of two parts: actuation model and dynamic model. Using LQR method, a balancing controller is designed for the model. And genetic...
Recently, radial basis function network (RBFN) is used quite widely when using neural networks as controllers for subjects with multiple uncertain parameters such as the robot. The most important thing when using online learning neural network system is the choice of coefficient for networks with fast convergence speed. So far this coefficient has been chosen by experience and sometimes it takes quite...
In this paper we consider the mixed model assembly line rebalancing problem in the context of seasonal production which is characterized by remarkable changes of products portfolio over seasons. Starting from a given line balancing strategy the goals are to minimize: (1) the total processing time of reassigned tasks (TTRT) to measure rebalancing cost, combining the reassigned tasks quantity and difficulty...
A new method of neural networks based on genetic algorithm is put forward for factors weight determination of safety assessment in the paper. The procedure on optimizing neural networks by genetic algorithm is expatiated. How to pick up the information of factors weight from the network link weight after training is analyzed in detail. The influence of primary network weight on final determination...
A location problem of the capacitated transshipment nodes in joint allocation and transportation of mass goods and materials is studied. Transportation costs, operating variable costs of transshipment nodes are considered, and a nonlinear mixed integer programming model for the transshipment nodes location is proposed. To solve the model effectively, a matrix-based encoding, cost matrix benchmarking-based...
In order to determine the maximum internal forces acting on certain joint of a walking mechanism for the structural strength analysis, a mechanical model for the chassis including all position freedom parameters of the mechanism in operation is established, and an optimization model for determining the internal force of the walking mechanism is presented as well. A method using the bi-level optimization...
We derived a dynamic motion equation of fish robot with 3-joints to analyze the propulsive motion characteristics according to the parameters variation of input torque function. Then, the parameters of input torque function are optimized by Genetic Algorithm (GA). And a fish robot with 1.2m length, 0.18m width and 0.18m height is developed for experiments. Finally, the dynamic motion equation of fish...
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...
The forward kinematics of the general Gough platform, namely the 6-6 parallel manipulator is solved using hybrid meta-heuristic techniques in which the simulated annealing algorithm replaces the mutation operator in a genetic algorithm. The results are compared with the standard simulated annealing and genetic algorithm. It shows that the standard simulated annealing algorithm outperforms standard...
The forward kinematic of the 3-RPR parallel manipulator is solved using a hybrid meta-heuristic technique where the simulated annealing algorithm replaces the mutation operator in a genetic algorithm. The results from the hybrid meta-heuristic approach is compared with the standard simulated annealing and genetic algorithm. The results show that the simulated annealing algorithm outperforms genetic...
Robotic manipulators with three-revolute (3R) positional configurations are very common in the industrial robots (IRs). The capability of a robot largely depends on the workspace (WS) of the manipulator apart from other parameters. With the constraints in mind the optimization of the workspace is of prime importance in designing the manipulator. The present work aims at obtaining an optimal design...
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