In this paper, a robust formulation for the structure-control design of mechatronic systems is developed. The proposed approach aims at minimization sensitivity nominal objectives with respect to uncertain parameters. integrated problem established as nonlinear multiobjective dynamic optimization one, which in order consider synergetic interactions uses mechanical and control objectives. A planar parallel robot its controller are simultaneously designed when tracking error manipulability...

Although different physiological signals, such as electrooculography (EOG) have been widely used in the control of assistance systems for people with disabilities, customizing signal classification system remains a challenge. In most interfaces, user must adapt to parameters, although ideally parameters. Therefore, this work use multilayer neural network (MNN) model EOG mathematical function is presented, which optimized using genetic algorithms, order obtain maximum and minimum amplitude...

Abstract The present work deals with the use of a constraint-handling differential evolution algorithm to solve nonlinear dynamic optimization problem (NLDOP) 51 decision variables. A novel mechatronic design approach is proposed as an NLDOP, where both structural parameters non-redundant parallel robot and control are simultaneously designed respect performance criterion. Additionally, model included in NLDOP equality constraint. obtained solution will be set optimal geometric PID gains....

In this paper, an improved harmony search (ImHS) algorithm is presented. HS a simple but efficient metaheuristic method explored in recent literature, that simulates the process of musical improvisation. Two modifications for parameter tuning are proposed to enhance performance solution constrained numerical optimization problems, maintaining simplicity its original design. Metaheuristics methods solving and based two processes: exploration (diversification) exploitation (intensification)....

This paper presents the mechanical synthesis of a four-bar mechanism, its definition as constrained optimisation problem in presence one dynamic constraint and solution with swarm intelligence algorithm based on bacteria foraging process. The is adapted to solve by adding suitable constraint-handling technique that able incorporate selection criterion for two objectives stated kinematic analysis problem. Moreover, diversity coupled attractor operator used bacteria, designed favour...

An optimization problem based on discrete-integer and continuous variables in order to design a multirotor for specific application (maximum thrust-to-weight maximum flight time) is developed. We considered the length diameter of rods as selection motors, propellers, battery variables, components selected are available common hobby stores. The solved two cases: ratio time. stated using aerodynamic principles mechanical well. used Genetic Algorithm provided by Optimization Toolbox Matlab®,...

This paper presents two-swim operators to be added the chemotaxis process of modified bacterial foraging optimization algorithm solve three instances synthesis four-bar planar mechanisms. One swim favors exploration while second one promotes fine movements in neighborhood each bacterium. The combined effect new looks increase production better solutions during search. As a consequence, ability escape from local optimum is enhanced. tested through four experiments and its results are compared...

Simple and accurate approaches to predict failure pressures in corroded pipelines are outlined this work. It is shown that for can be predicted from the solution undamaged using an equivalent wall thickness. Three different yield criteria (Tresca, ASSY (average shear stress yield), von Mises) reviewed light of reported experimental burst pressures. At first, cylindrical vessels with infinitely long groove studied by means numerical simulations. The effect size (depth width) over pipeline...

This paper presents a procedure for designing mechanical training and rehabilitation gait system centered on ankle trajectories children with cerebral palsy or any other psycho-motor limitation. With the aim of developing reconfigurable device adjustable to anthropometric characteristics user, an analytic model generation was elaborated, taking as base experimental data reported in literature. A dimensional synthesis mechanism follow drop type carried out constrained numerical optimization...

An Isolated Microgrid (IMG) is an electrical distribution network combined with modern information technologies aiming at reducing costs and pollution to the environment. In this article, we implement Bacterial Foraging Optimization Algorithm (BFOA) optimize IMG model, which includes renewable energy sources, such as wind solar, well a conventional generation unit based on diesel fuel. Two novel versions of BFOA were implemented tested: Two-Swim Modified (TS-MBFOA), Normalized TS-MBFOA...

Abstract In this paper, a concurrent design methodology to formulate the mechatronic problem is presented. The proposes state as dynamic optimization problem. order explain methodology, of pinion–rack continuously variable transmission (CVT) carried out. Two techniques, one based on mathematical programming method and other novel evolutionary approach, are used solve it. behaviour both approaches compared, quality computational time required by each them in common platform. Copyright © 2007...

In this paper is presented the design of an asymmetric greenhouse, with a simulation and evaluation its microclimate by means DesignBuilder®. Climatic geographical conditions greenhouse location are processed DesignBuilder®, which also allows to include geometrical characteristics enclosure roofing, properties building materials description climate control system. Three configurations evaluated in order analyze compare their internal gains.

Mobile robots with omnidirectional wheels are expected to perform a wide variety of movements in narrow space. However, kinematic mobility and dexterity have not been clearly identified as an objective be considered when designing redundant robots. In light this fact, article proposes maximize the mobile robot by properly locating wheels. addition, four hybrid differential evolution (DE) algorithm based on synergetic integration different kinds mutation crossover presented. A comparison...

This article presents the development of a dynamic optimization method for controller tuning. is proposed because most traditional tuning methods complex coupled models are based on experience, and thus lacking accuracy. The case study Mobile Manipulator that consists an anthropomorphic manipulator differential mobile platform. system model has trajectory generator includes kinematic model, Jacobian Proportional-Derivative plus controller. obtained by solving problem, using Differential...

This manuscript describes a swift control prototyping (SCP) approach implemented within an industrial setting, utilizing DC-DC nonlinear quadratic buck converter (QBC) to decrease production expenses of electronic materials and devices while improving power system efficiency. A practical experimental setup is utilized develop working prototype, transforming 380 VDC 48 with capacity up 500 W. The incorporates dSPACE CP1103 execute Model in the Loop (MIL), Software (SIL), Hardware (HIL)...

In this paper, a graph-theory-based approach for representing planar mechanisms is presented, the Santiago Portilla method (SPM). From corresponding adjacency matrix, SPM generates an extended matrix containing complete characterization of mechanism, including all information about both topology and geometry. This representation can be used optimal design mechanisms, allowing simultaneously topological dimensional synthesis by means computational tools such as metaheuristic algorithms. A...

Nowadays, industrial robot applications are required to customize the manufacturing of diverse products reduce both downtime and standoff variability. The two methods for programming regularly implemented carry out that goal. first one, online programming, requires a specialized operator guide through desired poses, quality result is directly limited by his skill level. On other side, off-line uses software packaging simulate before their implementation. It reduces with respect but...

Finding the inverse kinematic solution of a serial manipulator has always attracted attention optimization enthusiasts, as space is highly nonlinear and, depending on number degrees freedom, multiple solutions. In literature, one can find several proposed solutions using heuristic techniques; however, for redundant manipulators, e.g., seven or more, discussions focused minimizing positional error. this paper, metaheuristic approach presented to solve not only kinematics 7 and 8 DOF...

The inverse kinematics problem (IKP) is fundamental in robotics, but it gets harder to solve as the complexity of mechanisms increases. For that reason, several approaches have been applied it, including metaheuristic algorithms. This work presents a proposal for solving IKP doubly articulated kinematic chain by means modified differential evolution (DE) algorithm. novelty both modeling and modification DE it. inspired technique used animation software recreate movements dividing complete...