A hybrid multi-objective evolutionary approach for optimal path planning of a hexapod robot

Hexapod robots are six-legged robotic systems, which have been widely investigated in the literature for various applications including exploration, rescue, and surveillance. Designing hexapod robots requires to carefully considering a number of different aspects. One of the aspects that require careful design attention is the planning of leg trajectories. In particular, given the high demand for fast motion and high-energy autonomy it is important to identify proper leg operation paths that can minimize energy consumption while maximizing the velocity of the movements. In this frame, this paper presents a preliminary study on the application of a hybrid multi-objective optimization approach for the computer-aided optimal design of a legged robot. To assess the methodology, a kinematic and dynamic model of a leg of a hexapod robot is proposed as referring to the main design parameters of a leg. Optimal criteria have been identified for minimizing the energy consumption and efficiency as well as maximizing the walking speed and the size of obstacles that a leg can overtake. We evaluate the performance of the hybrid multi-objective evolutionary approach to explore the design space and provide a designer with an optimal setting of the parameters. Our simulations demonstrate the effectiveness of the hybrid approach by obtaining improved Pareto sets of trade-off solutions as compared with a standard evolutionary algorithm. Computational costs show an acceptable increase for an off-line path planner. © Springer International Publishing Switzerland 2016

Performance Comparison of PSO and Its New Variants in the Context of VLSI Global Routing

Substantial reduction of gate delay occurred in recent times owing to radical decrement of transistor size. The interconnect length and delay are accordingly increased owing to the exponential escalation of packaging density with additional transistors being fabricated on the same chip area. The function of VLSI routing that seems to be more defying to the scholars, is categorized in global routing and detailed routing phase. In global routing phase, the prevalent method to lessen the wire length for reducing interconnect delay is to adjust the cost of the Steiner tree, devised by the terminal nodes to be interconnected. Nevertheless, Steiner tree problem is a NP-complete problem in classical graph theory where meta-heuristics might impart beneficial elucidations. Particle swarm optimization (PSO) is a robust algorithm concerning VLSI routing field. This chapter is regarding the proposal of a self-adaptive mechanism for monitoring acceleration coefficient of PSO and evaluating its functionalities with the existing acceleration coefficient controlled PSO in numerous allocation topologies of terminal nodes within definite VLSI layout. The outcomes of PSO variant with constriction factor in context to VLSI route reduction ability and robustness are also inspected. Additionally, a new effort in adapting the PSO with embracement of genetic algorithm is established

From cell to robot : A bio-inspired locomotion device

Bionics or biomimetics is an interdisciplinary research field, a scientific approach to applicate naturally developed biological systems, methods and solutions to the study and design of technology and engineering systems. Therefore bionics is based on an exclusive mutuality between life sciences and technology and its associated sciences, such as robotics. Robots are special artificial agents, and they have much in common with biological agents in case of the need to adapt to their environment. A popular trend in robotics is the development of soft robots – artificial agents with a rather flexible skin or shape, propulsing itself with some type of crawling movement. These robots are able to deform and adapt to obstacles during locomotion, which is an advantage over classical wheeled or legged propulsion. Bionics is helpful in developing locomotion devices for robots, e. g. bio-inspired climbing robots, such as geckobots, utilise the biological gecko adhesion model for climbing. Most of these bio-inspired climbing robots have the disadvantage of using legs for locomotion. The idea is to find a new biological model for a bionic robotic locomotion device that is using an adhesion-dependent crawling locomotion, which allows the robot to climb (or at least be able to master inclinations) and still has a rather soft and deformable shape providing the flexibility of adaptation to obstacles or a changing environment. Surprisingly, single cells, such as amoebae or animal tissue cells, provide these required properties: the ability to crawl on surfaces by formation of adhesion bonds and a very deformable shape – a perfect model for such robots. These cells are reorganising their cytoskeletal cortex and create a visco-elastic gradient which is polarising the cell with a sol-like "sloppy" leading edge at the front and a gel-like "stiff" rear end. This work demonstrates that it is possible to transfer the biophysical locomotion mechanism of cell migration to a simulation model of soft robots, which use an adhesion-dependent mechanism to autonomously create a polarising elasticity gradient during motion. It introduces and analyses three robot models, which are able to move on surfaces with different built-in integrations of this polarisation mechanism. Simulations show that the robots are flexible enough to adapt to changing environments, such as rough surfaces. One model is even able to crawl on walls and ceilings against the direction of gravity. Finally, this work offers some ideas for possible constructions and usability of these robots, and what insights their analysis might give into principles of biological cell migration

Performance Evaluation for the Sustainable Supply Chain Management

Supply chain SC activities transform natural resources, raw materials, and components into various finished products that are delivered to end customers. A high efficient SC would bring great benefits to an enterprise such as integrated resources, reduced logistics costs, improved logistics efficiency, and high quality of overall level of services. In contrast, an inefficient SC will bring additional transaction costs, information management costs, and resource waste, reduce the production capacity of all enterprises on the chain, and unsatisfactory customer relationships. So the evaluation of a SC is important for an enterprise to survive in a competitive market in a globalized business environment. Therefore, it is important to research the various methods, performance indicator systems, and technology for evaluating, monitoring, predicting, and optimizing the performance of a SC. A typical procedure of the performance evaluation (PE) of a SC is to use the established evaluation performance indicators, employ an analytical method, follow a given procedure, to carry out quantitatively or qualitatively comparative analysis to provide the objective and accurate evaluation of a SC performance in a selected operation period. Various research works have been carried out in proposing the performance indicator systems and methods for SC performance evaluations. But there are no widely accepted indicator systems that can be applied in practical SC performance evaluations due to the fact that the indicators in different systems have been defined without a common understanding of the meanings and the relationships between them, and they are nonlinear and very complicated

Computer Architecture in Industrial, Biomechanical and Biomedical Engineering

This book aims to provide state-of-the-art information on computer architecture and simulation in industry, engineering, and clinical scenarios. Accepted submissions are high in scientific value and provide a significant contribution to computer architecture. Each submission expands upon novel and innovative research where the methods, analysis, and conclusions are robust and of the highest standard. This book is a valuable resource for researchers, students, non-governmental organizations, and key decision-makers involved in earthquake disaster management systems at the national, regional, and local levels

Recovering complete and draft population genomes from metagenome datasets.

Assembly of metagenomic sequence data into microbial genomes is of fundamental value to improving our understanding of microbial ecology and metabolism by elucidating the functional potential of hard-to-culture microorganisms. Here, we provide a synthesis of available methods to bin metagenomic contigs into species-level groups and highlight how genetic diversity, sequencing depth, and coverage influence binning success. Despite the computational cost on application to deeply sequenced complex metagenomes (e.g., soil), covarying patterns of contig coverage across multiple datasets significantly improves the binning process. We also discuss and compare current genome validation methods and reveal how these methods tackle the problem of chimeric genome bins i.e., sequences from multiple species. Finally, we explore how population genome assembly can be used to uncover biogeographic trends and to characterize the effect of in situ functional constraints on the genome-wide evolution

Using Optimality Theory and Reference Points to Improve the Diversity and Convergence of a Fuzzy-Adaptive Multi-Objective Particle Swarm Optimizer

Particle Swarm Optimization (PSO) has received increasing attention from the evolutionary optimization research community in the last twenty years. PSO is a metaheuristic approach based on collective intelligence obtained by emulating the swarming behavior of bees. A number of multi-objective variants of the original PSO algorithm that extend its applicability to optimization problems with conflicting objectives have also been developed; these multi-objective PSO (MOPSO) algorithms demonstrate comparable performance to other state-of-the-art metaheuristics. The existence of multiple optimal solutions (Pareto-optimal set) in optimization problems with conflicting objectives is not the only challenge posed to an optimizer, as the latter needs to be able to identify and preserve a well-distributed set of solutions during the search of the decision variable space. Recent attempts by evolutionary optimization researchers to incorporate mathematical convergence conditions into genetic algorithm optimizers have led to the derivation of a point-wise proximity measure, which is based on the solution of the achievement scalarizing function (ASF) optimization problem with a complementary slackness condition that quantifies the violation of the Karush-Kuhn-Tucker necessary conditions of optimality. In this work, the aforementioned KKT proximity measure is incorporated into the original Adaptive Coevolutionary Multi-Objective Swarm Optimizer (ACMOPSO) in order to monitor the convergence of the sub-swarms towards the Pareto-optimal front and provide feedback to Mamdani-type fuzzy logic controllers (FLCs) that are utilized for online adaptation of the algorithmic parameters. The proposed Fuzzy-Adaptive Multi-Objective Optimization Algorithm with the KKT proximity measure (FAMOPSOkkt) utilizes a set of reference points to cluster the computed nondominated solutions. These clusters interact with their corresponding sub-swarms to provide the swarm leaders and are also utilized to manage the external archive of nondominated solutions. The performance of the proposed algorithm is evaluated on benchmark problems chosen from the multi-objective optimization literature and compared to the performance of state-of-the-art multi-objective optimization algorithms with similar features

Efficiency of Hybrid Algorithms for Estimating the Shear Strength of Deep Reinforced Concrete Beams

Earthquakes occurred in recent years have highlighted the need to examine the strength of reinforced concrete (RC) members. RC beams are one of the elements of reinforced concrete structures. Due to the dramatic increase in the population and the number of medium/high-rise buildings, in recent years, the beams of buildings have been mainly designed and executed in the type of deep beams. In this study, the artificial neural network (ANN) with optimization algorithms, including particle swarm optimization (PSO), Archimedes optimization algorithm (AOA), and sparrow search algorithm (SSA), are used to determine the shear strength of reinforced concrete deep (RCD) beams. 271 samples from experimental tests are employed to develop algorithms. The results of this study, design codes equations, and previous research are compared. Comparison between the results shows that the PSO-ANN algorithm is more accurate than previous methods. Finally, SHApley Additive exPlanations (SHAP) method is utilized to explain the predictions. SHAP reveals that the beam span and the ratio of the beam span to beam depth have the highest impact in predicting shear strength

Otimização muscle-in-the-loop em tempo real para reabilitação física com um exosqueleto ativo: uma mudança de paradigma

Assisting human locomotion with a wearable robotic orthosis is still quite challenging, largely due to the complexity of the neuromusculoskeletal system, the time-varying dynamics that accompany motor adaptation, and the uniqueness of every individual’s response to the assistance given by the robot. To this day, these devices have not met their well-known promise yet, mostly due to the fact that they are not perfectly suitable for the rehabilitation of neuropathologic patients. One of the main challenges hampering this goal still relies on the interface and co-dependency between the human and the machine. Nowadays, most commercial exoskeletons replay pre-defined gait patterns, whereas research exoskeletons are switching to controllers based on optimized torque profiles. In most cases, the dynamics of the human musculoskeletal system are still ignored and do not take into account the optimal conditions for inducing a positive modulation of neuromuscular activity. This is because both rehabilitation strategies are still emphasized on the macro level of the whole joint instead of focusing on the muscles’ dynamics and activity, which are the actual anatomical elements that may need to be rehabilitated. Strategies to keep the human in the loop of the exoskeleton’s control laws in real-time may help to overcome these challenges. The main purpose of the present dissertation is to make a paradigm shift in the approach on how the assistance that is given to a subject by an exoskeleton is modelled and controlled during physical rehabilitation. Therefore, in the scope of the present work, it was intended to design, concede, implement, and validate a real-time muscle-in-the-loop optimization model to find the best assistive support ratio that would induce optimal rehabilitation conditions to a specific group of impaired muscles while having a minimum impact on the other healthy muscles. The developed optimization model was implemented in the form of a plugin and was integrated on a neuromechanical model-based interface for driving a bilateral ankle exoskeleton. Experimental pilot tests evaluated the feasibility and effectiveness of the model. Results of the most significant pilots achieved EMG reductions up to 61 ± 3 % in Soleus and 41 ± 10 % in Gastrocnemius Lateralis. Moreover, results also demonstrated the efficiency of the optimization’s specific reduction on rehabilitation by looking into the muscular fatigue after each experiment. Finally, two parallel preliminary studies emerged from the pilots, which looked at muscle adaptation, after a new assistive condition had been applied, over time and at the effect of the lateral positioning of the exoskeleton’s actuators on the leg muscles.Auxiliar a locomoção humana com uma ortose robótica ainda é bastante desafiante, em grande parte devido à complexidade do sistema neuromusculoesquelético, à dinâmica variável no tempo que acompanha a adaptação motora e à singularidade da resposta de cada indivíduo à assistência dada pelo robô. Até hoje, está por cumprir a promessa inicial destes dispositivos, principalmente devido ao facto de não serem perfeitamente adequados para a reabilitação de pacientes neuropatológicos. Um dos principais desafios que dificultam esse objetivo foca-se ainda na interface e na co-dependência entre o ser humano e a máquina. Hoje em dia, a maioria dos exoesqueletos comerciais reproduz padrões de marcha predefinidos, enquanto que os exoesqueletos em investigação estão só agora a mudar para controladores com base em perfis de binário otimizados. Na maioria dos casos, a dinâmica do sistema musculoesquelético humano ainda é ignorada e não tem em consideração as condições ideais para induzir uma modulação positiva da atividade neuromuscular. Isso ocorre porque ambas as estratégias de reabilitação ainda são enfatizadas no nível macro de toda a articulação, em vez de se concentrar na dinâmica e atividade dos músculos, que são os elementos anatómicos que realmente precisam de ser reabilitados. Estratégias para manter o ser humano em loop nos comandos que controlam o exoesqueleto em tempo real podem ajudar a superar estes desafios. O principal objetivo desta dissertação é fazer uma mudança de paradigma na abordagem em como a assistência que é dada a um sujeito por um exosqueleto é modelada e controlada durante a reabilitação física. Portanto, no contexto do presente trabalho, pretendeu-se projetar, conceder, implementar e validar um modelo de otimização muscle-in-the-loop em tempo real para encontrar a melhor relação de suporte capaz de induzir as condições ideais de reabilitação para um grupo específico de músculos fragilizados, tendo um impacto mínimo nos outros músculos saudáveis. O modelo de otimização desenvolvido foi implementado na forma de um plugin e foi integrado numa interface baseada num modelo neuromecânico para o controlo de um exoesqueleto bilateral de tornozelo. Testes experimentais piloto avaliaram a viabilidade e a eficácia do modelo. Os resultados dos testes mais significativos demonstraram reduções de EMG de até 61 ± 3 % no Soleus e 41 ± 10 % no Gastrocnemius Lateral. Adicionalmente, os resultados demonstraram também a eficiência em reabilitação da redução específica no EMG devido à otimização tendo em conta a fadiga muscular após cada teste. Finalmente, dois estudos preliminares paralelos emergiram dos testes piloto, que analisaram a adaptação muscular após uma nova condição assistiva ter sido definida ao longo do tempo e o efeito do posicionamento lateral dos atuadores do exoesqueleto nos músculos da perna.Mestrado em Engenharia Biomédic