scholarly journals Newly Elaborated Hybrid Algorithm for Optimization of Robot Arm’s Trajectory in Order to Increase Efficiency and Provide Sustainability in Production

2021 ◽  
Vol 13 (15) ◽  
pp. 8193
Author(s):  
Rabab Benotsmane ◽  
László Dudás ◽  
György Kovács
Keyword(s):  
Tabu Search ◽  
Cycle Time ◽  
Hybrid Algorithm ◽  
Search Algorithm ◽  
Raw Materials ◽  
Industrial Robots ◽  
Motion Path ◽  
Environmental Damage ◽  
Robot Arm ◽  
Manufacturing Companies

Nowadays, resources for production (raw materials, human, energy, etc.) are limited, while population, consumption and environmental damage are continuously increasing. Consequently, the current practices of resource usage are not sustainable. Therefore, manufacturing companies have to change to environmentally friendly and innovative technologies and tools, e.g., industrial robots. Robots are necessary in the production sector and also in terms of sustainability: (1) the application of robots is needed to compensate for the lack of human resources; (2) robots can increase productivity significantly; and (3) there are several hazardous (e.g., chemical, physical) industrial tasks for which robots are more adequate than human workforce. This article introduces a newly elaborated Hybrid Algorithm for optimization of a robot arm’s trajectory by the selection of that trajectory that has the smallest cycle time. This Hybrid Algorithm is based on the Tabu Search Algorithm and also uses two added methods—Point Insertion and Grid Refinement—simultaneously to find more precisely the optimal motion path of the robot arm in order to further reduce the cycle time and utilize the joints’ torque more efficiently. This Hybrid Algorithm is even more effective than applying the Tabu Search method alone and results in even higher efficiency improvement. The Hybrid Algorithm is executed using MATLAB software by creating a dynamic model of a 5 degree-of-freedom robot arm. The main contribution of the research is the elaboration of the new Hybrid Algorithm, which results in the minimization of robot arms’ motion cycle times, causing a significant increase in productivity and thus a reduction in specific production cost; furthermore, obstacles in the workspace can be avoided. The efficiency of the Hybrid Algorithm is validated by a case study showing that application of the new algorithm resulted in 32% shorter motion cycle time.

scholarly journals GASAT: A Genetic Local Search Algorithm for the Satisfiability Problem

2006 ◽  
Vol 14 (2) ◽  
pp. 223-253 ◽  
Author(s):  
Frédéric Lardeux ◽  
Frédéric Saubion ◽  
Jin-Kao Hao
Keyword(s):  
Tabu Search ◽  
Local Search ◽  
Hybrid Algorithm ◽  
State Of The Art ◽  
Search Algorithm ◽  
Satisfiability Problem ◽  
Local Search Algorithm ◽  
Overall Performance ◽  
Genetic Local Search ◽  
Search Stage

This paper presents GASAT, a hybrid algorithm for the satisfiability problem (SAT). The main feature of GASAT is that it includes a recombination stage based on a specific crossover and a tabu search stage. We have conducted experiments to evaluate the different components of GASAT and to compare its overall performance with state-of-the-art SAT algorithms. These experiments show that GASAT provides very competitive results.

Hybrid Particle Swarm: Tabu Search Optimization Algorithm for Parameter Estimation

2013 ◽  
Author(s):  
Anish Sebastian ◽  
Marco P. Schoen
Keyword(s):  
Tabu Search ◽  
Hybrid Algorithm ◽  
Search Algorithm ◽  
Single Agent ◽  
Particle Swarm ◽  
Estimation Problem ◽  
Benchmark Problems ◽  
Force Output ◽  
Semg Signal ◽  
Advantages And Disadvantages

A hybrid intelligent algorithm is proposed. The algorithm utilizes a particle swarm and a Tabu search algorithm. Swarm based algorithms and single agent based algorithms each, have distinct advantages and disadvantages. The goal of the presented work is to combine the strengths of the two different algorithms in order to achieve a more effective optimization routine. The developed hybrid algorithm is tailored such that it has the capability to adapt to the given cost function during the optimization process. The proposed algorithm is tested on a set of different benchmark problems. In addition, the hybrid algorithm is utilized for solving the estimation problem encountered for estimating the finger force output given a surface electromyogram (sEMG) signal at the input. This estimation problem is commonly encountered while developing a control system for a prosthetic hand.

scholarly journals Trajectory Optimization of Industrial Robot Arms Using a Newly Elaborated “Whip-Lashing” Method

2020 ◽  
Vol 10 (23) ◽  
pp. 8666
Author(s):  
Rabab Benotsmane ◽  
László Dudás ◽  
György Kovács
Keyword(s):  
Trajectory Optimization ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Added Value ◽  
Robot Arm ◽  
Manufacturing Companies ◽  
Time Saving ◽  
Cycle Times ◽  
Robot Arms

The application of the Industry 4.0′s elements—e.g., industrial robots—has a key role in the efficiency improvement of manufacturing companies. In order to reduce cycle times and increase productivity, the trajectory optimization of robot arms is essential. The purpose of the study is the elaboration of a new “whip-lashing” method, which, based on the motion of a robot arm, is similar to the motion of a whip. It results in achieving the optimized trajectory of the robot arms in order to increase velocity of the robot arm’s parts, thereby minimizing motion cycle times and to utilize the torque of the joints more effectively. The efficiency of the method was confirmed by a case study, which is relating to the trajectory planning of a five-degree-of-freedom RV-2AJ manipulator arm using SolidWorks and MATLAB software applications. The robot was modelled and two trajectories were created: the original path and path investigate the effects of using the whip-lashing induced robot motion. The application of the method’s algorithm resulted in a cycle time saving of 33% compared to the original path of RV-2AJ robot arm. The main added value of the study is the elaboration and implementation of the newly elaborated “whip-lashing” method which results in minimization of torque consumed; furthermore, there was a reduction of cycle times of manipulator arms’ motion, thus increasing the productivity significantly. The efficiency of the new “whip-lashing” method was confirmed by a simulation case study.

scholarly journals Workspace analysis of Cartesian robot system for kiwifruit harvesting

2020 ◽  
Vol 47 (4) ◽  
pp. 503-510
Author(s):  
ChiKit Au ◽  
Joshua Barnett ◽  
Shen Hin Lim ◽  
Mike Duke
Keyword(s):  
Cycle Time ◽  
Field Experiments ◽  
Industrial Robots ◽  
Outdoor Environment ◽  
Robot Arm ◽  
Production Environment ◽  
Robot System ◽  
Content Type ◽  
Articulated Robot ◽  
Multiple Robot

Purpose This paper aims to investigate if a Cartesian robot system for kiwifruit harvesting works more effectively and efficiently than an articulated robot system. The robot is a key component in agricultural automation. For instance, multiple robot arm system has been developed for kiwifruit harvesting recently because of the significant labor shortage issue. The industrial robots for factory automation usually have articulated configuration which is suitable for the tasks in the manufacturing and production environment. However, this articulated configuration may not fit for agricultural application due to the large outdoor environment. Design/methodology/approach The kiwifruit harvesting tasks are completed step by step so that the robot workspace covers the canopy completely. A two-arm, Cartesian kiwifruit harvesting robot system and several field experiments are developed for the investigation. The harvest cycle time of the Cartesian robot system is compared to that of an articulated robot system. The difference is analyzed based on the workspace geometries of these two robot configurations. Findings It is found that the kiwifruit harvesting productivity is increased by using a multiple robot system with Cartesian configuration owing to its regular workspace geometry. Originality/value An articulated robot is a common configuration for manufacturing because of its simple structure and the relatively static factory environment. Most of the agricultural robotics research studies use single articulated robot for their implementation. This paper pinpoints how the workspace of a multiple robot system affects the harvest cycle time for kiwifruit harvesting in a pergola style kiwifruit orchard.

scholarly journals An enhanced Tabu search Cell formation Algorithm for Cellular Manufacturing System

2022 ◽  
Vol 13 (1) ◽  
pp. 0-0
Keyword(s):  
Tabu Search ◽  
Hybrid Algorithm ◽  
Manufacturing Systems ◽  
Cellular Manufacturing ◽  
Search Algorithm ◽  
Cell Formation ◽  
Primary Objective ◽  
Intracellular Movement ◽  
Multiple Routes ◽  
Machine Cell

The major benefit of using Cellular manufacturing systems (CMS) is the improvement in efficiency and reduction in the production time. In a CMS the part families and machine parts are identified to minimise the inter and intracellular movement and maximise the utilisation of machines within each cell. Many scholars have proposed methods for the evaluation of machine cell part layouts with single routes; this paper introduces a modified Hybrid Tabu Search Algorithm (HTSA) referred to as Hybrid Algorithm in this study for machine cell part layouts having multiple routes as well. The primary objective of this paper is to minimise the inter and intracellular movement using a hybrid algorithm. The paper presents a comparative analysis of the existing and the proposed algorithms, proving that the proposed hybrid algorithm is simple, easy to understand, and has a remarkable efficiency with a runtime of 5.6 seconds.

scholarly journals Hybrid genetic–tabu search algorithm to optimize the route for capacitated vehicle routing problem with time window

2020 ◽  
Vol 1 (1) ◽  
pp. 15 ◽  
Author(s):  
Mohammad Deni Akbar ◽  
Rio Aurachmana
Keyword(s):  
Tabu Search ◽  
Vehicle Routing ◽  
Vehicle Routing Problem ◽  
Hybrid Algorithm ◽  
Search Algorithm ◽  
Optimum Number ◽  
Tabu Search Algorithm ◽  
Routing Problem ◽  
Capacitated Vehicle Routing Problem ◽  
Capacitated Vehicle

Optimization of transportation and distribution costs is one of the important issues in the supply chain management area. It is caused by their large contribution to the logistics costs that can reach up to 40%. Thus, choosing the right route is one of the efforts that can be done to resolve the issue. This study aims to optimize the capacitated vehicle routing problem with time windows (CVRPTW) for mineral water company distributor with pick-up and delivery problem. To achieve the aim, this study used hybrid algorithm, Genetic Algorithm (GA) and Tabu Search Algorithm (TS). The selection of this hybrid algorithm is due to its capability in minimizing travel distance. The result of this study shows that not only the algorithm has successfully reduced the existing route but also predicted the optimum number of homogenous fleet. By running the algorithm, this study concludes that the number of the optimum routes for this study can be reduced for up to 15.99% than the existing route.

scholarly journals A Hybridalldifferent-Tabu Search Algorithm for Solving Sudoku Puzzles

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Ricardo Soto ◽  
Broderick Crawford ◽  
Cristian Galleguillos ◽  
Fernando Paredes ◽  
Enrique Norero
Keyword(s):  
Tabu Search ◽  
Hybrid Algorithm ◽  
Search Algorithm ◽  
Search Procedure ◽  
Global Constraint ◽  
Approximate Methods ◽  
Complete Collection ◽  
Robust Approach ◽  
Np Complete ◽  
Exact And Approximate Methods

The Sudoku problem is a well-known logic-based puzzle of combinatorial number-placement. It consists in filling an2 × n2grid, composed ofncolumns,nrows, andnsubgrids, each one containing distinct integers from 1 ton2. Such a puzzle belongs to the NP-complete collection of problems, to which there exist diverse exact and approximate methods able to solve it. In this paper, we propose a new hybrid algorithm that smartly combines a classic tabu search procedure with thealldifferentglobal constraint from the constraint programming world. Thealldifferentconstraint is known to be efficient for domain filtering in the presence of constraints that must be pairwise different, which are exactly the kind of constraints that Sudokus own. This ability clearly alleviates the work of the tabu search, resulting in a faster and more robust approach for solving Sudokus. We illustrate interesting experimental results where our proposed algorithm outperforms the best results previously reported by hybrids and approximate methods.

scholarly journals Hybridizing Beam Search with Tabu Search for the Irregular Packing Problem

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Yunqing Rao ◽  
Peng Wang ◽  
Qiang Luo
Keyword(s):  
Tabu Search ◽  
Hybrid Algorithm ◽  
Numerical Experiments ◽  
Search Algorithm ◽  
Packing Problem ◽  
Benchmark Problems ◽  
Beam Search ◽  
Hybrid Search

The irregular packing problem involves arranging all the irregular pieces on a plate with the objective of maximizing the use of material. In this article, the layout is formed by the ordered sequence of the irregular pieces which is obtained by a hybrid search algorithm and where the order is decoded by a proposed placement principle. First, a novel no-fit-polygon (NFP) generator is introduced. Then, a placement principle is presented with the new NFP generator. Finally, a search algorithm hybridized with beam search (BS) and tabu search (TS) is proposed to search over the sequence. The numerical experiments with many benchmark problems show that the hybrid algorithm is an applicative and effective approach for solving the irregular packing problem. The hybrid algorithm can produce competitive solutions in less time than many other typical algorithms.

scholarly journals PLM Solutions in the Process of Supporting the Implementation and Maintenance of the Circular Economy Concept in Manufacturing Companies

2021 ◽  
Vol 13 (19) ◽  
pp. 10589
Author(s):  
Mariusz Cholewa ◽  
Luan Huynh Ba Minh
Keyword(s):  
Circular Economy ◽  
Information Technologies ◽  
Quantitative Methods ◽  
Raw Materials ◽  
Product Lifecycle Management ◽  
Environmental Damage ◽  
Manufacturing Companies ◽  
Qualitative And Quantitative Methods ◽  
Employment Rates ◽  
Functional Areas

The Circular Economy (CE) is a priority topic for various stakeholders such as politicians, scientists, and industry. However, despite the significant interest in CE, there is still a lack of a framework explaining how manufacturing companies willing to become circular adapt their existing business model. The concept of this work is based on the use of Information Technologies such as the well-known and long-proven Product Lifecycle Management (PLM) solutions in the implementation and maintenance of the CE concept to reduce the consumption of primary raw materials, increase employment rates, and reduce environmental damage. This paper aims to assess the feasibility and effectiveness of using the PLM approach to implement the CE concept. The authors selected the most common and effective PLM functionalities and then assessed them to support selected components of the CE concept using qualitative and quantitative methods. The performed assessment and the inter-relation matrix of benefits developed on its basis allowed for pointing out the feature combinations that would bring the best outcome. The conducted study proved that the implemented and properly working PLM solution could simultaneously support CE concepts. PLM functionalities such as (1) product development, (2) transparency, and (3) value-maximizing with the combination of CE functional areas of (1) personalization, (2) made to order, and support turned out to be particularly effective. This study contributes to ensuring an effective and quick process of implementing CE concept in manufacturing companies and moreover opens further research ideas in bringing the Circular Economy to life.

Determination of Optimal Public Transportation Routes Using Firefly and Tabu Search Algorithms

2020 ◽  
Vol 4 (5) ◽  
pp. 884-891
Author(s):  
Salwa Salsabila Mansur ◽  
Sri Widowati ◽  
Mahmud Imrona
Keyword(s):  
Tabu Search ◽  
Public Transportation ◽  
Traffic Congestion ◽  
Search Algorithm ◽  
Urban Transportation ◽  
The Public ◽  
Comparison Results ◽  
Congestion Problems ◽  
Transportation Routes

Traffic congestion problems generally caused by the increasing use of private vehicles and public transportations. In order to overcome the situation, the optimization of public transportation’s route is required particularly the urban transportation. In this research, the performance analysis of Firefly and Tabu Search algorithm is conducted to optimize eleven public transportation’s routes in Bandung. This optimization aims to increase the dispersion of public transportation’s route by expanding the scope of route that are crossed by public transportation so that it can reach the entire Bandung city and increase the driver’s income by providing the passengers easier access to public transportations in order to get to their destinations. The optimal route is represented by the route with most roads and highest number of incomes. In this research, the comparison results between the reference route and the public transportation’s optimized route increasing the dispersion of public transportation’s route to 60,58% and increasing the driver’s income to 20,03%.

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