Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots with Uncertainties

2021 ◽  
pp. 1-32
Author(s):  
Vu Linh Nguyen ◽  
Chin-Hsing Kuo ◽  
Po Ting Lin
Keyword(s):  
Pso Algorithm ◽  
Reliability Based Design Optimization ◽  
Swarm Optimization ◽  
Reliability Based Design ◽  
Serial Robots ◽  
Simulation Based ◽  
Serial Robot ◽  
Simulation Results ◽  
Uncertainty Level

Abstract This article proposes a method for analyzing the gravity balancing reliability of spring-articulated serial robots with uncertainties. Gravity balancing reliability is defined as the probability that the torque reduction ratio (the ratio of the balanced torque to the unbalanced torque) is less than a specified threshold. The reliability analysis is performed by exploiting a Monte Carlo simulation (MCS) with consideration of the uncertainties in the link dimensions, masses, and compliance parameters. The gravity balancing begins with a simulation-based analysis of the gravitational torques of a typical serial robot. Based on the simulation results, a gravity balancing design for the robot using mechanical springs is realized. A reliability-based design optimization (RBDO) method is also developed to seek a reliable and robust design for maximized balancing performance under a prescribed uncertainty level. The RBDO is formulated with consideration of a probabilistic reliability constraint and solved by using a particle swarm optimization (PSO) algorithm. A numerical example is provided to illustrate the gravity balancing performance and reliability of a robot with uncertainties. A sensitivity analysis of the balancing design is also performed. Lastly, the effectiveness of the RBDO method is demonstrated through a case study in which the balancing performance and reliability of a robot with uncertainties are improved with the proposed method.

scholarly journals Random adjustment - based Chaotic Metaheuristic algorithms for image contrast enhancement

2017 ◽  
Vol 10 (2) ◽  
pp. 67
Author(s):  
Vina Ayumi ◽  
L.M. Rasdi Rere ◽  
Mohamad Ivan Fanany ◽  
Aniati Murni Arymurthy
Keyword(s):  
Contrast Enhancement ◽  
Harmony Search ◽  
Search Space ◽  
Optimization Method ◽  
Large Solution ◽  
Swarm Optimization ◽  
Image Contrast Enhancement ◽  
Simulation Results ◽  
Better Than

Metaheuristic algorithm is a powerful optimization method, in which it can solve problemsby exploring the ordinarily large solution search space of these instances, that are believed tobe hard in general. However, the performances of these algorithms signicantly depend onthe setting of their parameter, while is not easy to set them accurately as well as completelyrelying on the problem's characteristic. To ne-tune the parameters automatically, manymethods have been proposed to address this challenge, including fuzzy logic, chaos, randomadjustment and others. All of these methods for many years have been developed indepen-dently for automatic setting of metaheuristic parameters, and integration of two or more ofthese methods has not yet much conducted. Thus, a method that provides advantage fromcombining chaos and random adjustment is proposed. Some popular metaheuristic algo-rithms are used to test the performance of the proposed method, i.e. simulated annealing,particle swarm optimization, dierential evolution, and harmony search. As a case study ofthis research is contrast enhancement for images of Cameraman, Lena, Boat and Rice. Ingeneral, the simulation results show that the proposed methods are better than the originalmetaheuristic, chaotic metaheuristic, and metaheuristic by random adjustment.

Convergence Analysis of Particle Swarm Optimization via Illustration Styles

2021 ◽  
pp. 29-37
Author(s):  
Wei-Der Chang ◽  
Keyword(s):  
Particle Swarm Optimization ◽  
Convergence Analysis ◽  
Optimization Problem ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Function Optimization ◽  
Evolutionary Computations ◽  
Swarm Optimization ◽  
Simulation Results ◽  
Population Based Algorithm

Particle swarm optimization (PSO) is the most important and popular algorithm to solving the engineering optimization problem due to its simple updating formulas and excellent searching capacity. This algorithm is one of evolutionary computations and is also a population-based algorithm. Traditionally, to demonstrate the convergence analysis of the PSO algorithm or its related variations, simulation results in a numerical presentation are often given. This way may be unclear or unsuitable for some particular cases. Hence, this paper will adopt the illustration styles instead of numeric simulation results to more clearly clarify the convergence behavior of the algorithm. In addition, it is well known that three parameters used in the algorithm, i.e., the inertia weight w, position constants c1 and c2, sufficiently dominate the whole searching performance. The influence of these parameter settings on the algorithm convergence will be considered and examined via a simple two-dimensional function optimization problem. All simulation results are displayed using a series of illustrations with respect to various iteration numbers. Finally, some simple rules on how to suitably assign these parameters are also suggested

A PSO Algorithm Based Task Scheduling in Cloud Computing

2019 ◽  
Vol 10 (4) ◽  
pp. 1-17 ◽  
Author(s):  
Mohit Agarwal ◽  
Gur Mauj Saran Srivastava
Keyword(s):  
Cloud Computing ◽  
Task Scheduling ◽  
Virtual Machines ◽  
Pso Algorithm ◽  
Emerging Technology ◽  
The Internet ◽  
Hard Problem ◽  
Swarm Optimization ◽  
Np Hard Problem ◽  
Simulation Results

Cloud computing is an emerging technology which involves the allocation and de-allocation of the computing resources using the internet. Task scheduling (TS) is one of the fundamental issues in cloud computing and effort has been made to solve this problem. An efficient task scheduling mechanism is always needed for the allocation to the available processing machines in such a manner that no machine is over or under-utilized. Scheduling tasks belongs to the category of NP-hard problem. Through this article, the authors are proposing a particle swarm optimization (PSO) based task scheduling mechanism for the efficient scheduling of tasks among the virtual machines (VMs). The proposed algorithm is compared using the CloudSim simulator with the existing greedy and genetic algorithm-based task scheduling mechanism. The simulation results clearly show that the PSO-based task scheduling mechanism clearly outperforms the others as it results in almost 30% reduction in makespan and increases the resource utilization by 20%.

System RBDO With Correlated Variables Using Probabilistic Re-Analysis and Local Metamodels

2010 ◽  
Author(s):  
Ramon C. Kuczera ◽  
Zissimos P. Mourelatos ◽  
Efstratios Nikolaidis
Keyword(s):  
System Reliability ◽  
Random Variables ◽  
Trust Region ◽  
Optimization Approach ◽  
Reliability Based Design Optimization ◽  
Reliability Based Design ◽  
Sensitivity Derivatives ◽  
Simulation Based ◽  
Gradient Based ◽  
Mc Simulation

A simulation-based, system reliability-based design optimization (RBDO) method is presented that can handle problems with multiple failure regions and correlated random variables. Copulas are used to represent dependence between random variables. The method uses a Probabilistic Re-Analysis (PRRA) approach in conjunction with a sequential trust-region optimization approach and local metamodels covering each trust region. PRRA calculates very efficiently the system reliability of a design by performing a single Monte Carlo (MC) simulation per trust region. Although PRRA is based on MC simulation, it calculates “smooth” sensitivity derivatives, allowing the use of a gradient-based optimizer. The PRRA method is based on importance sampling. One requirement for providing accurate results is that the support of the sampling PDF must contain the support of the joint PDF of the input random variables. The trust-region optimization approach satisfies this requirement. Local metamodels are constructed sequentially for each trust region taking advantage of the potential overlap of the trust regions. The metamodels are used to determine the value of the indicator function in MC simulation. An example with correlated input random variables demonstrates the accuracy and efficiency of the proposed RBDO method.

A Method of Parameters Selecting in Robust Control Based on PSO Algorithm

2011 ◽  
Vol 320 ◽  
pp. 574-579
Author(s):  
Hua Li ◽  
Zhi Cheng Xu ◽  
Shu Qing Wang
Keyword(s):  
Particle Swarm Optimization ◽  
Robust Control ◽  
Optimization Problem ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Swarm Optimization ◽  
Satisfactory Performance ◽  
Novel Method ◽  
Simulation Results

Aiming at a kind of uncertainties of models in complex industry processes, a novel method for selecting robust parameters is stated in the paper. Based on the analysis, parameters selecting for robust control is reduced to be an object optimization problem, and the particle swarm optimization (PSO) is used for solving the problem, and the corresponding robust parameters are obtained. Simulation results show that the robust parameters designed by this method have good robustness and satisfactory performance.

scholarly journals Design of Speech Denoising Algorithm Based on Wavelet Threshold Function and PSO

2021 ◽  
Author(s):  
Lanyong Zhang ◽  
Ruixuan Zhang ◽  
Papavassiliou Christos
Keyword(s):  
Mathematical Modeling ◽  
Particle Swarm Optimization ◽  
Pso Algorithm ◽  
Threshold Function ◽  
Threshold Method ◽  
Swarm Optimization ◽  
Wavelet Filters ◽  
Bayesian Criterion ◽  
Speech Denoising ◽  
Simulation Results

At present, there are many shortcomings in the discontinuity of wavelet threshold function and the constant threshold of different decomposition layers and the constant error it produced. The amplitude-frequency characteristics of wavelet filters are studied and analyzed by mathematical modeling. An improved wavelet threshold function with adjustable parameters is proposed. Particle swarm optimization (PSO) algorithm is used to find the optimal parameters of the improved threshold function in a background noise environment. The improved wavelet threshold function is combined with Bayesian threshold method to obtain the threshold based on Bayesian criterion, which makes the threshold adaptive in different layers and overcomes the shortcomings of fixed threshold. Finally, the speech signal with optimal wavelet coefficients is obtained after reconstruction. Compared with the traditional threshold function, Simulation results show that the improved threshold function achieves precise notch denoising, effectively retains the singularity and eigenvalues of the signal, and reduces the signal distortion.

scholarly journals Super-twisting sliding mode controllers based on D-PSO optimization for temperature control of an induction cooking system

2020 ◽  
Vol 11 (2) ◽  
pp. 1055
Author(s):  
Abdeldjalil Abdelkader Mekki ◽  
Abdelkader Kansab ◽  
Mohamed Matallah ◽  
Zinelaabidine Boudjema ◽  
Mouloud Feliachi
Keyword(s):  
Particle Swarm Optimization ◽  
Sliding Mode ◽  
Pso Algorithm ◽  
Sliding Mode Controller ◽  
Swarm Optimization ◽  
Fem Method ◽  
Cooking Temperature ◽  
Sliding Mode Controllers ◽  
Simulation Results ◽  
Induction Cooking

<p class="Default">In this study, we perform the control of the temperature evolution versus time of induction cooking system using a super twisting sliding mode control (STSMC) based on Dynamic Particle Swarm Optimization (D-PSO). First, we will determine the evolution of the temperature in the middle of the pan bottom using the FEM method. The found temperature exceeds the limit of the desired cooking temperature (150-200°C). Second, to limit temperature increase, a (ST-SMC) method combined with a (D-PSO) algorithm is used to get the desired temperature. Particles Swarm Optimization (D-PSO) method is used to optimize the parameters of the gain of (ST-SMC) and improve its performance. The simulation results show that the use of the optimized super twisting sliding mode controller helps to achieve a desired value of cooking.</p>

scholarly journals A Method for Consensus Reaching in Product Kansei Evaluation Using Advanced Particle Swarm Optimization

2017 ◽  
Vol 2017 ◽  
pp. 1-8 ◽  
Author(s):  
Yan-pu Yang
Keyword(s):  
Particle Swarm Optimization ◽  
Product Design ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Design Evaluation ◽  
Swarm Optimization ◽  
Inertia Weight ◽  
Design Alternatives ◽  
Consensus Reaching

Consumers’ opinions toward product design alternatives are often subjective and perceptual, which reflect their perception about a product and can be described using Kansei adjectives. Therefore, Kansei evaluation is often employed to determine consumers’ preference. However, how to identify and improve the reliability of consumers’ Kansei evaluation opinions toward design alternatives has an important role in adding additional insurance and reducing uncertainty to successful product design. To solve this problem, this study employs a consensus model to measure consistence among consumers’ opinions, and an advanced particle swarm optimization (PSO) algorithm combined with Linearly Decreasing Inertia Weight (LDW) method is proposed for consensus reaching by minimizing adjustment of consumers’ opinions. Furthermore, the process of the proposed method is presented and the details are illustrated using an example of electronic scooter design evaluation. The case study reveals that the proposed method is promising for reaching a consensus through searching optimal solutions by PSO and improving the reliability of consumers’ evaluation opinions toward design alternatives according to Kansei indexes.

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