Simultaneous optimization of gait and design parameters for bipedal robots

2016 ◽  
Author(s):  
Ulrich J. Romer ◽  
Cornelius Kuhs ◽  
Mathias J. Krause ◽  
Alexander Fidlin
Keyword(s):  
Simultaneous Optimization ◽  
Design Parameters ◽  
Bipedal Robots

Model-based simultaneous optimization of multiple design parameters for lithium-ion batteries for maximization of energy density

2013 ◽  
Vol 227 ◽  
pp. 161-170 ◽  
Author(s):  
Sumitava De ◽  
Paul W.C. Northrop ◽  
Venkatasailanathan Ramadesigan ◽  
Venkat R. Subramanian
Keyword(s):  
Energy Density ◽  
Lithium Ion Batteries ◽  
Lithium Ion ◽  
Simultaneous Optimization ◽  
Design Parameters ◽  
Model Based

Integration of an Automatic Optimizer Functionality Into the Design Process of Industrial Steam Turbines

2012 ◽  
Author(s):  
Dimitri Drapkin ◽  
Franz Kores ◽  
Thomas Polklas
Keyword(s):  
Design Process ◽  
Optimization Methods ◽  
Simultaneous Optimization ◽  
Design Parameters ◽  
Optimization Approach ◽  
Steam Turbines ◽  
Particle Swarm Optimizer ◽  
Optimization Task ◽  
Wide Range ◽  
Optimization Parameters

Industrial steam turbines are mostly tailor made machinery, varying in a wide range of specifications. This feature introduces high requirements on the design process which has to be flexible, efficient and fast at the same time. Given live steam and design parameters as input, the geometry corresponding to the valid design scheme can be calculated together with the required thermodynamic, aerodynamic and mechanical characteristics. By variation of design parameters a design may be achieved which optimizes both, efficiency and cost. The optimization task is formulated mathematically, e.g. crucial optimization parameters, criteria for evaluation of different designs and other required constraints are selected. The structure of the resulting optimization problem is analyzed. Based on this analysis a modular optimization system design is proposed. The choice of Genetic Algorithms and Adaptive Particle Swarm Optimizer as optimization methods is discussed, recommendations for their proper use are given. A bicriterial optimization approach for a simultaneous optimization of efficiency and cost is developed.

The Effects of Curved Foot Design Parameters on Planar Biped Walking

2012 ◽  
Author(s):  
Anne E. Martin ◽  
James P. Schmiedeler
Keyword(s):  
Knee Kinematics ◽  
Substantial Effect ◽  
Energetic Cost ◽  
Design Parameters ◽  
Energetic Efficiency ◽  
Bipedal Robots ◽  
Healthy Human ◽  
Circular Arc ◽  
Gait Kinematics ◽  
Hip Kinematics

Although the nature of their gaits is similar, planar bipeds with curved feet have been shown experimentally to be more energetically efficient than those with point feet. Further, both healthy human feet and prosthetic feet can be modeled as a circular arc with the center of curvature in front of the shank. Thus, understanding the effects of a curved foot’s properties on the energetic cost of gait and on gait kinematics has the potential to improve both bipedal robots and prosthesis design. To date, there has not been a systematic study of the effects of changing the foot radius and center of curvature location on symmetric bipeds. This paper explores the effects of changing the curved foot’s geometric properties for both two- and five-link planar, underactuated bipeds with instantaneous transfer of support at impact. It is found that the foot radius has a substantial effect on the energetic efficiency of a gait regardless of the morphology of the biped. The effect of foot center of curvature location on energy efficiency is dependent on the morphology of the biped and is much less significant than the effect of foot radius. Both the foot radius and center of curvature location affect the knee kinematics of the five-link biped. The foot radius affects the hip kinematics of the two-link biped.

Magnetic Bearing Design Using Genetic Algorithms

1999 ◽  
Author(s):  
Yong Teng ◽  
Susan Carlson-Skalak ◽  
Eric Maslen
Keyword(s):  
Genetic Algorithm ◽  
Solution Space ◽  
Optimization Method ◽  
Time Frame ◽  
Magnetic Bearing ◽  
Simultaneous Optimization ◽  
Design Parameters ◽  
Dimensional System ◽  
Reasonable Time Frame ◽  
The Relationship

Abstract A magnetic bearing system is a coupled, nonlinear, high-dimensional system. The relationship among the design parameters, design constraints and the optimization goals is not obvious. Solving this type of design problem within a reasonable time frame is a challenge for any optimization method. This research investigated the simultaneous optimization of the magnetic bearing configuration and bearing locations. A multistage genetic algorithm was developed to search through a discrete and non-convex solution space. Because the genetic algorithm can search through a much larger solution space than any engineer can do, innovative designs different from those using traditional methods can be found.

OPTIMIZATION OF THE STACK IN A STANDING WAVE THERMOACOUSTIC REFRIGERATOR AT DIFFERENT DESIGN TEMPERATURES

2016 ◽  
Vol 78 (8-4) ◽  
Author(s):  
Normah Mohd-Ghazali ◽  
Mawahib Hassan El-Fawal
Keyword(s):  
Optimization Methods ◽  
Simultaneous Optimization ◽  
Coefficient Of Performance ◽  
Design Parameters ◽  
Vapor Compression ◽  
Upper Limit ◽  
Center Position ◽  
Discrete Variations ◽  
Parameters Of Interest ◽  
Thermoacoustic Refrigerator

Although numerous successful thermoacoustic refrigerators have been reported to date, the performance of these systems is still lower than their vapor compression counter parts. Optimization is imperative to identify the upper limit of the performance in order to be competitive and accepted by the general public. However, optimization methods adopted so far, experimentally and numerically, involved discrete variations of the selected parameters of interest. This paper presents the results of an optimization using the Lagrange Multiplier method, a mathematical approach never used before. The simultaneous optimization of the stack length and center position at various design temperatures is performed for a standard thermoacoustic refrigerator design. Results show similar pattern and trend with previous results with a 24.7% higher stack coefficient of performance achievable. This is promising considering that only two of the design parameters have been optimized.

The influence of confocal microscope design on imaging performance

1993 ◽  
Vol 51 ◽  
pp. 144-145
Author(s):  
C J R Sheppard
Keyword(s):  
Image Quality ◽  
Fluorescence Imaging ◽  
Confocal Microscope ◽  
Industrial Applications ◽  
Three Dimensions ◽  
Design Parameters ◽  
Weak Signals ◽  
Size And Shape ◽  
Imaging Performance ◽  
Fundamental Limitation

The confocal microscope is now widely used in both biomedical and industrial applications for imaging, in three dimensions, objects with appreciable depth. There are now a range of different microscopes on the market, which have adopted a variety of different designs. The aim of this paper is to explore the effects on imaging performance of design parameters including the method of scanning, the type of detector, and the size and shape of the confocal aperture.It is becoming apparent that there is no such thing as an ideal confocal microscope: all systems have limitations and the best compromise depends on what the microscope is used for and how it is used. The most important compromise at present is between image quality and speed of scanning, which is particularly apparent when imaging with very weak signals. If great speed is not of importance, then the fundamental limitation for fluorescence imaging is the detection of sufficient numbers of photons before the fluorochrome bleaches.

Design Parameters Of A Comfortable Living Environment In The Normative Documentation

2020 ◽  
pp. 51-56
Keyword(s):  
Russian Federation ◽  
Living Environment ◽  
National Standards ◽  
Design Parameters ◽  
Internal Space ◽  
Environment Quality ◽  
Indoor Environment Quality ◽  
Community Information ◽  
Normative Documentation ◽  
The Russian Federation

Currently, the professional construction community information field is largely filled with the topic of creating a comfortable living environment. However, architectural and engineering design that corresponds to the concept of sustainable development is currently hindered due to the lack of a formed conceptual framework that reveals the meaning of the term "comfort", as well as a criteria list that determines the indoor environment quality in the Russian Federation regulatory and technical framework. The article offers some components of a comfortable living environment, within which the parameters of designing the internal environment of premises are highlighted. A comparative analysis of the national standards of the Russian Federation regulating the design of the internal space of residential and public buildings, with international "green" standards for a number of parameters was carried out. It is concluded that it is necessary to update the Russian regulatory and technical base taking into account the international experience of "green" standards.

Effiecency criterion for selection of design parameters of aerospace system

2016 ◽  
Vol 22 (2(99)) ◽  
pp. 48-51
Author(s):  
D.S. Kalynychenko ◽  
◽  
Ye.Yu. Baranov ◽  
M.V. Poluian ◽  
◽  
...  
Keyword(s):  
Design Parameters ◽  
Selection Of
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