scholarly journals Use Improved Differential Evolution Algorithms to Handle the Inverse Kinetics Problem for Robots with Residual Degrees of Freedom

2021 ◽  
Author(s):  
Trung Nguyen ◽  
Tam Bui
Keyword(s):  
Differential Evolution ◽  
Execution Time ◽  
Degrees Of Freedom ◽  
Single Point ◽  
Differential Evolution Algorithm ◽  
Adaptive Strategy ◽  
De Algorithm ◽  
Evolution Algorithms ◽  
Differential Evolution Algorithms

In this study, the Self-adaptive strategy algorithm for controlling parameters in Differential Evolution algorithm (ISADE) improved from the Differential Evolution (DE) algorithm, as well as the upgraded version of the algorithms has been applied to solve the Inverse Kinetics (IK) problem for the redundant robot with 7 Degree of Freedom (DoF). The results were compared with 4 other algorithms of DE and Particle Swarm Optimization (PSO) as well as Pro-DE and Pro-PSO algorithms. These algorithms are tested in three different Scenarios for the motion trajectory of the end effector of in the workspace. In the first scenario, the IK results for a single point were obtained. 100 points randomly generated in the robot’s workspace was input parameters for Scenario 2, while Scenario 3 used 100 points located on a spline in the robot workspace. The algorithms were compared with each other based on the following criteria: execution time, endpoint distance error, number of generations required and especially quality of the joints’ variable found. The comparison results showed 2 main points: firstly, the ISADE algorithm gave much better results than the other DE and PSO algorithms based on the criteria of execution time, endpoint accuracy and generation number required. The second point is that when applying Pro-ISADE, Pro-DE and Pro-PSO algorithms, in addition to the ability to significantly improve the above parameters compared to the ISADE, DE and PSO algorithms, it also ensures the quality of solved joints’ values.

scholarly journals Adapting Differential Evolution Algorithms For Continuous Optimization Via Greedy Adjustment Of Control Parameters

2016 ◽  
Vol 6 (2) ◽  
pp. 103-118 ◽  
Author(s):  
Miguel Leon ◽  
Ning Xiong
Keyword(s):  
Differential Evolution ◽  
Continuous Optimization ◽  
Evolutionary Process ◽  
Control Parameters ◽  
De Algorithm ◽  
Reliable Assessment ◽  
Current Parameter ◽  
Evolution Algorithms ◽  
Relative Errors ◽  
Differential Evolution Algorithms

AbstractDifferential evolution (DE) presents a class of evolutionary and meta-heuristic techniques that have been applied successfully to solve many real-world problems. However, the performance of DE is significantly influenced by its control parameters such as scaling factor and crossover probability. This paper proposes a new adaptive DE algorithm by greedy adjustment of the control parameters during the running of DE. The basic idea is to perform greedy search for better parameter assignments in successive learning periods in the whole evolutionary process. Within each learning period, the current parameter assignment and its neighboring assignments are tested (used) in a number of times to acquire a reliable assessment of their suitability in the stochastic environment with DE operations. Subsequently the current assignment is updated with the best candidate identified from the neighborhood and the search then moves on to the next learning period. This greedy parameter adjustment method has been incorporated into basic DE, leading to a new DE algorithm termed as Greedy Adaptive Differential Evolution (GADE). GADE has been tested on 25 benchmark functions in comparison with five other DE variants. The results of evaluation demonstrate that GADE is strongly competitive: it obtained the best rank among the counterparts in terms of the summation of relative errors across the benchmark functions with a high dimensionality.

A Satisfaction Differential Evolution Algorithm for Detailed Machine Layout in Assembly Plant

2014 ◽  
Vol 926-930 ◽  
pp. 3346-3349
Author(s):  
Wei Zeng ◽  
Cheng Long Liu ◽  
Xiao Jun Zheng
Keyword(s):  
Differential Evolution ◽  
Differential Evolution Algorithm ◽  
Optimization Theory ◽  
Optimal Solution ◽  
Assembly Plant ◽  
Machine Layout ◽  
Practical Engineering ◽  
Evolution Algorithm ◽  
Evolution Algorithms ◽  
Differential Evolution Algorithms

We herein present a satisfaction differential evolution algorithm to deal with machine layout in assembly plant. This paper firstly provide the assumption for detailed machine layout problem, build a mathematical model of detailed machine layout, and replace the optimal solution with satisfactory solution, combine satisfactory optimization theory with differential evolution algorithms, employ satisfaction function as the objective function of differential evolution algorithm. The experimental results verified our methods with practical engineering examples.

scholarly journals Shadowed Type-2 Fuzzy Systems for Dynamic Parameter Adaptation in Harmony Search and Differential Evolution for Optimal Design of Fuzzy Controllers

Mathematics ◽  
2021 ◽  
Vol 9 (19) ◽  
pp. 2439
Author(s):  
Oscar Castillo ◽  
Cinthia Peraza ◽  
Patricia Ochoa ◽  
Leticia Amador-Angulo ◽  
Patricia Melin ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Differential Evolution ◽  
Execution Time ◽  
Fuzzy Systems ◽  
Harmony Search ◽  
Parameter Adaptation ◽  
Fuzzy Controllers ◽  
Evolution Algorithms ◽  
Differential Evolution Algorithms

This article mainly focuses on the utilization of shadowed type-2 fuzzy systems used to achieve the goal of dynamically adapting the parameters of two already known algorithms in the literature: the harmony search and the differential evolution algorithms. It has already been established that type-2 fuzzy logic enhances the performance of metaheuristics by enabling parameter adaptation; however, the utilization of fuzzy logic results in an increased execution time. For this reason, in this article, the shadowed type-2 fuzzy approach is put forward as a way of reducing execution time, while maintaining the good results that the complete type-2 fuzzy model produces. The harmony search and differential evolution algorithms with shadowed type-2 parameter adaptations were applied to the problem of optimally designing fuzzy controllers. The simulations were performed with the controllers working in an ideal situation, and then with a real situation under different noise levels in order to reach a conclusion regarding the performance of each of the algorithms that were applied.

scholarly journals Performance Comparison between Particle Swarm Optimization and Differential Evolution Algorithms for Postman Delivery Routing Problem

2021 ◽  
Vol 11 (6) ◽  
pp. 2703
Author(s):  
Warisa Wisittipanich ◽  
Khamphe Phoungthong ◽  
Chanin Srisuwannapa ◽  
Adirek Baisukhan ◽  
Nuttachat Wisittipanit
Keyword(s):  
Particle Swarm Optimization ◽  
Differential Evolution ◽  
Particle Swarm ◽  
Performance Comparison ◽  
Swarm Optimization ◽  
Routing Problem ◽  
Metaheuristic Methods ◽  
Evolution Algorithms ◽  
Differential Evolution Algorithms ◽  
Current Practices

Generally, transportation costs account for approximately half of the total operation expenses of a logistics firm. Therefore, any effort to optimize the planning of vehicle routing would be substantially beneficial to the company. This study focuses on a postman delivery routing problem of the Chiang Rai post office, located in the Chiang Rai province of Thailand. In this study, two metaheuristic methods—particle swarm optimization (PSO) and differential evolution (DE)—were applied with particular solution representation to find delivery routings with minimum travel distances. The performances of PSO and DE were compared along with those from current practices. The results showed that PSO and DE clearly outperformed the actual routing of the current practices in all the operational days examined. Moreover, DE performances were notably superior to those of PSO.

scholarly journals Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

2021 ◽  
Vol 18 (3) ◽  
pp. 172988142110144
Author(s):  
Qianqian Zhang ◽  
Daqing Wang ◽  
Lifu Gao
Keyword(s):  
Differential Evolution ◽  
Objective Function ◽  
Inverse Kinematics ◽  
Differential Evolution Algorithm ◽  
Weight Coefficient ◽  
Adaptive Mutation ◽  
Feasible Region ◽  
Serial Manipulators ◽  
De Algorithm ◽  
Self Adaptive

To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.

USING AN IMPROVED BEE MEMORY DIFFERENTIAL EVOLUTION ALGORITHM FOR PARAMETER ESTIMATION TO SIMULATE BIOCHEMICAL PATHWAYS

2014 ◽  
Vol 22 (01) ◽  
pp. 101-121 ◽  
Author(s):  
CHUII KHIM CHONG ◽  
MOHD SABERI MOHAMAD ◽  
SAFAAI DERIS ◽  
MOHD SHAHIR SHAMSIR ◽  
LIAN EN CHAI ◽  
...  
Keyword(s):  
Differential Evolution ◽  
Differential Evolution Algorithm ◽  
Estimation Algorithm ◽  
Convergence Time ◽  
Unknown Parameters ◽  
Estimation Algorithms ◽  
Bee Colony ◽  
De Algorithm ◽  
Cell Cycle Pathway ◽  
Parameter Values

When analyzing a metabolic pathway in a mathematical model, it is important that the essential parameters are estimated correctly. However, this process often faces few problems like when the number of unknown parameters increase, trapping of data in the local minima, repeated exposure to bad results during the search process and occurrence of noisy data. Thus, this paper intends to present an improved bee memory differential evolution (IBMDE) algorithm to solve the mentioned problems. This is a hybrid algorithm that combines the differential evolution (DE) algorithm, the Kalman filter, artificial bee colony (ABC) algorithm, and a memory feature. The aspartate and threonine biosynthesis pathway, and cell cycle pathway are the metabolic pathways used in this paper. For three production simulation pathways, the IBMDE managed to robustly produce the estimated optimal kinetic parameter values with significantly reduced errors. Besides, it also demonstrated faster convergence time compared to the Nelder–Mead (NM), simulated annealing (SA), the genetic algorithm (GA) and DE, respectively. Most importantly, the kinetic parameters that were generated by the IBMDE have improved the production rates of desired metabolites better than other estimation algorithms. Meanwhile, the results proved that the IBMDE is a reliable estimation algorithm.

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