scholarly journals Comparison of Planar Parallel Manipulator Architectures Based on a Multi-Objective Design Optimization Approach

2010 ◽  
Author(s):  
Damien Chablat ◽  
Ste´phane Caro ◽  
Raza Ur-Rehman ◽  
Philippe Wenger
Keyword(s):  
Genetic Algorithm ◽  
Design Optimization ◽  
Parallel Manipulator ◽  
Optimization Problem ◽  
Optimization Approach ◽  
Objective Functions ◽  
Multi Objective ◽  
Planar Parallel Manipulator ◽  
Moving Platform ◽  
Pareto Frontiers

This paper deals with the comparison of planar parallel manipulator architectures based on a multi-objective design optimization approach. The manipulator architectures are compared with regard to their mass in motion and their regular workspace size, i.e., the objective functions. The optimization problem is subject to constraints on the manipulator dexterity and stiffness. For a given external wrench, the displacements of the moving platform have to be smaller than given values throughout the obtained maximum regular dexterous workspace. The contributions of the paper are highlighted with the study of 3-PRR, 3-RPR and 3-RRR planar parallel manipulator architectures, which are compared by means of their Pareto frontiers obtained with a genetic algorithm.

Robust Optimization of an Accelerometer Considering Fabrication Errors

2009 ◽  
Vol 628-629 ◽  
pp. 353-356 ◽  
Author(s):  
Guang Jun Liu ◽  
Tao Jiang ◽  
An Lin Wang
Keyword(s):  
Genetic Algorithm ◽  
Mathematical Model ◽  
Sensitivity Analysis ◽  
Robust Optimization ◽  
Optimization Problem ◽  
Design Space ◽  
Optimization Approach ◽  
Objective Functions ◽  
Micro Fabrication ◽  
Fabrication Errors

A robust optimization approach of an accelerometer is presented to minimize the effect of variations from micro fabrication. The sensitivity analysis technology is employed to reduce design space and to find the key parameters that have greatest influence on the accelerometer. And then, the constraint conditions and objective functions for robust optimization and the corresponding mathematical model are presented. The optimization problem is solved by the Multiple-island Genetic Algorithm and the results show that an accelerometer with better performance is obtained.

Multi-Objective Optimization of a 2-DoF Purely Translational Parallel Manipulator

2011 ◽  
Vol 317-319 ◽  
pp. 794-798
Author(s):  
Zhi Bin Li ◽  
Yun Jiang Lou ◽  
Yong Sheng Zhang ◽  
Ze Xiang Li
Keyword(s):  
Genetic Algorithm ◽  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Pareto Front ◽  
Parallel Robot ◽  
Objective Functions ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Evolution Algorithm

The paper addresses the multi-objective optimization of a 2-DoF purely translational parallel manipulator. The kinematic analysis of the Proposed T2 parallel robot is introduced briefly. The objective functions are optimized simultaneously to improve Regular workspace Share (RWS) and Global Conditioning Index (GCI). A Multi-Objective Evolution Algorithm (MOEA) based on the Control Elitist Non-dominated Sorting Genetic Algorithm (controlled ENSGA-II) is used to find the Pareto front. The optimization results show that this method is efficient. The parallel manipulator prototype is also exhibited here.

Optimum force balancing of a planar parallel manipulator

2003 ◽  
Vol 217 (5) ◽  
pp. 515-524 ◽  
Author(s):  
G Alici ◽  
B Shirinzadeh
Keyword(s):  
Parallel Manipulator ◽  
Optimization Problem ◽  
Optimization Approach ◽  
Static Force ◽  
Force Analysis ◽  
Kinematic Chains ◽  
Revolute Joints ◽  
Planar Parallel Manipulator ◽  
Motion Optimization ◽  
Balancing Conditions

This paper focuses on optimum force balancing of a planar parallel manipulator, articulated with revolute joints, with a combination of a proper distribution of link masses and two springs connected to the driving links. After conducting the static force analysis of the mechanism, the force balancing is formulated as an optimization problem such that a mean-square root of the sum-squared values of bearing and spring forces is minimized throughout an operation range of the manipulator, provided that a set of balancing constraints consisting of balancing conditions and the sizes of some inertial and geometric parameters are satisfied. The minimization of bearing forces and spring forces adds to the life of bearings and springs, transmits less shaking force and moment to the ground, decreases wear in the mechanism components and consequently reduces the actuation burden on the actuators when the manipulator is in motion. Optimization results indicate that the proposed optimization approach is systematic, versatile and easy to implement for the optimal balancing of the parallel manipulator and other kinematic chains.

A Kriging Metamodel Assisted Multi-Objective Genetic Algorithm for Design Optimization

2006 ◽  
Author(s):  
Mian Li ◽  
Genzi Li ◽  
Shapour Azarm
Keyword(s):  
Genetic Algorithm ◽  
Design Optimization ◽  
Pareto Frontier ◽  
Computational Cost ◽  
Optimization Methods ◽  
Optimization Approach ◽  
Multi Objective ◽  
Multi Objective Genetic Algorithm ◽  
Main Challenge ◽  
Engineering Design Problems

The high computational cost of population based optimization methods, such as multi-objective genetic algorithms, has been preventing applications of these methods to realistic engineering design problems. The main challenge is to devise methods that can significantly reduce the number of computationally intensive simulation (objective/constraint functions) calls. We present a new multi-objective design optimization approach in that kriging-based metamodeling is embedded within a multi-objective genetic algorithm. The approach is called Kriging assisted Multi-Objective Genetic Algorithm, or K-MOGA. The key difference between K-MOGA and a conventional MOGA is that in K-MOGA some of the design points or individuals are evaluated by kriging metamodels, which are computationally inexpensive, instead of the simulation. The decision as to whether the simulation or their kriging metamodels to be used for evaluating an individual is based on checking a simple condition. That is, it is determined whether by using the kriging metamodels for an individual the non-dominated set in the current generation is changed. If this set is changed, then the simulation is used for evaluating the individual; otherwise, the corresponding kriging metamodels are used. Seven numerical and engineering examples with different degrees of difficulty are used to illustrate applicability of the proposed K-MOGA. The results show that on the average, K-MOGA converges to the Pareto frontier with about 50% fewer number of simulation calls compared to a conventional MOGA.

scholarly journals Braille Block Detection via Multi-Objective Optimization from an Egocentric Viewpoint

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2775
Author(s):  
Tsubasa Takano ◽  
Takumi Nakane ◽  
Takuya Akashi ◽  
Chao Zhang
Keyword(s):  
Optimization Problem ◽  
Line Pair ◽  
Objective Functions ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Optimization Framework ◽  
Visually Impaired People ◽  
Comprehensive Comparison ◽  
Basic Characteristics ◽  
Support Devices

In this paper, we propose a method to detect Braille blocks from an egocentric viewpoint, which is a key part of many walking support devices for visually impaired people. Our main contribution is to cast this task as a multi-objective optimization problem and exploits both the geometric and the appearance features for detection. Specifically, two objective functions were designed under an evolutionary optimization framework with a line pair modeled as an individual (i.e., solution). Both of the objectives follow the basic characteristics of the Braille blocks, which aim to clarify the boundaries and estimate the likelihood of the Braille block surface. Our proposed method was assessed by an originally collected and annotated dataset under real scenarios. Both quantitative and qualitative experimental results show that the proposed method can detect Braille blocks under various environments. We also provide a comprehensive comparison of the detection performance with respect to different multi-objective optimization algorithms.

scholarly journals A Method for Integration of Preferences to a Multi-Objective Evolutionary Algorithm Using Ordinal Multi-Criteria Classification

2021 ◽  
Vol 26 (2) ◽  
pp. 27
Author(s):  
Alejandro Castellanos-Alvarez ◽  
Laura Cruz-Reyes ◽  
Eduardo Fernandez ◽  
Nelson Rangel-Valdez ◽  
Claudia Gómez-Santillán ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Selective Pressure ◽  
Optimization Problems ◽  
Region Of Interest ◽  
Decision Makers ◽  
Multiple Objective ◽  
Objective Functions ◽  
Multi Objective ◽  
Imperfect Knowledge ◽  
Real World Problems

Most real-world problems require the optimization of multiple objective functions simultaneously, which can conflict with each other. The environment of these problems usually involves imprecise information derived from inaccurate measurements or the variability in decision-makers’ (DMs’) judgments and beliefs, which can lead to unsatisfactory solutions. The imperfect knowledge can be present either in objective functions, restrictions, or decision-maker’s preferences. These optimization problems have been solved using various techniques such as multi-objective evolutionary algorithms (MOEAs). This paper proposes a new MOEA called NSGA-III-P (non-nominated sorting genetic algorithm III with preferences). The main characteristic of NSGA-III-P is an ordinal multi-criteria classification method for preference integration to guide the algorithm to the region of interest given by the decision-maker’s preferences. Besides, the use of interval analysis allows the expression of preferences with imprecision. The experiments contrasted several versions of the proposed method with the original NSGA-III to analyze different selective pressure induced by the DM’s preferences. In these experiments, the algorithms solved three-objectives instances of the DTLZ problem. The obtained results showed a better approximation to the region of interest for a DM when its preferences are considered.

scholarly journals Multi-Objective Multidisciplinary Design Optimization of a Robotic Fish System

2021 ◽  
Vol 9 (5) ◽  
pp. 478
Author(s):  
Hao Chen ◽  
Weikun Li ◽  
Weicheng Cui ◽  
Ping Yang ◽  
Linke Chen
Keyword(s):  
Design Optimization ◽  
Optimization Algorithm ◽  
Multidisciplinary Design Optimization ◽  
Robotic Fish ◽  
Multidisciplinary Design ◽  
Optimization Approach ◽  
Multi Objective Optimization ◽  
Multi Objective ◽  
Cfd Method ◽  
The Individual

Biomimetic robotic fish systems have attracted huge attention due to the advantages of flexibility and adaptability. They are typically complex systems that involve many disciplines. The design of robotic fish is a multi-objective multidisciplinary design optimization problem. However, the research on the design optimization of robotic fish is rare. In this paper, by combining an efficient multidisciplinary design optimization approach and a novel multi-objective optimization algorithm, a multi-objective multidisciplinary design optimization (MMDO) strategy named IDF-DMOEOA is proposed for the conceptual design of a three-joint robotic fish system. In the proposed IDF-DMOEOA strategy, the individual discipline feasible (IDF) approach is adopted. A novel multi-objective optimization algorithm, disruption-based multi-objective equilibrium optimization algorithm (DMOEOA), is utilized as the optimizer. The proposed MMDO strategy is first applied to the design optimization of the robotic fish system, and the robotic fish system is decomposed into four disciplines: hydrodynamics, propulsion, weight and equilibrium, and energy. The computational fluid dynamics (CFD) method is employed to predict the robotic fish’s hydrodynamics characteristics, and the backpropagation neural network is adopted as the surrogate model to reduce the CFD method’s computational expense. The optimization results indicate that the optimized robotic fish shows better performance than the initial design, proving the proposed IDF-DMOEOA strategy’s effectiveness.

Application of Multi-Objective Genetic Algorithm (MOGA) for Design Optimization of Valve Timing at Various Engine Speeds

2011 ◽  
Vol 264-265 ◽  
pp. 1719-1724 ◽  
Author(s):  
A.K.M. Mohiuddin ◽  
Md. Ataur Rahman ◽  
Yap Haw Shin
Keyword(s):  
Genetic Algorithm ◽  
Design Optimization ◽  
Robust Design Optimization ◽  
Primary Concern ◽  
Variable Valve Timing ◽  
Valve Timing ◽  
Engine Valve ◽  
Multi Objective ◽  
Multi Objective Genetic Algorithm ◽  
Variable Valve

This paper aims to demonstrate the effectiveness of Multi-Objective Genetic Algorithm Optimization and its practical application on the automobile engine valve timing where the variation of performance parameters required for finest tuning to obtain the optimal engine performances. The primary concern is to acquire the clear picture of the implementation of Multi-Objective Genetic Algorithm and the essential of variable valve timing effects on the engine performances in various engine speeds. Majority of the research works in this project were in CAE software environment and method to implement optimization to 1D engine simulation. The paper conducts robust design optimization of CAMPRO 1.6L (S4PH) engine valve timing at various engine speeds using multiobjective genetic algorithm (MOGA) for the future variable valve timing (VVT) system research and development. This paper involves engine modelling in 1D software simulation environment, GT-Power. The GT-Power model is run simultaneously with mode Frontier to perform multiobjective optimization.

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