Optimizing simulated humanoid robot skills

Tese de mestrado integrado. Engenharia Informática e Computação. Faculdade de Engenharia. Universidade do Porto. 201

MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics

El libro de actas recoge las aportaciones de los autores a través de los correspondientes artículos a la Dinámica de Sistemas Multicuerpo y la Mecatrónica (Musme). Estas disciplinas se han convertido en una importante herramienta para diseñar máquinas, analizar prototipos virtuales y realizar análisis CAD sobre complejos sistemas mecánicos articulados multicuerpo. La dinámica de sistemas multicuerpo comprende un gran número de aspectos que incluyen la mecánica, dinámica estructural, matemáticas aplicadas, métodos de control, ciencia de los ordenadores y mecatrónica. Los artículos recogidos en el libro de actas están relacionados con alguno de los siguientes tópicos del congreso: Análisis y síntesis de mecanismos ; Diseño de algoritmos para sistemas mecatrónicos ; Procedimientos de simulación y resultados ; Prototipos y rendimiento ; Robots y micromáquinas ; Validaciones experimentales ; Teoría de simulación mecatrónica ; Sistemas mecatrónicos ; Control de sistemas mecatrónicosUniversitat Politècnica de València (2011). MUSME 2011 4 th International Symposium on Multibody Systems and Mechatronics. Editorial Universitat Politècnica de València. http://hdl.handle.net/10251/13224Archivo delegad

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Enhancing the bees algorithm using the traplining metaphor

This work aims to improve the performance of the Bees Algorithm (BA), particularly in terms of simplicity, accuracy, and convergence. Three improvements were made in this study as a result of bees’ traplining behaviour. The first improvement was the parameter reduction of the Bees Algorithm. This strategy recruits and assigns worker bees to exploit and explore all patches. Both searching processes are assigned using the Triangular Distribution Random Number Generator. The most promising patches have more workers and are subject to more exploitation than the less productive patches. This technique reduced the original parameters into two parameters. The results show that the Bi-BA is just as efficient as the basic BA, although it has fewer parameters. Following that, another improvement was proposed to increase the diversification performance of the Combinatorial Bees Algorithm (CBA). The technique employs a novel constructive heuristic that considers the distance and the turning angle of the bees’ flight. When foraging for honey, bees generally avoid making a sharp turn. By including this turning angle as the second consideration, it can control CBA’s initial solution diversity. Third, the CBA is strengthened to enable an intensification strategy that avoids falling into a local optima trap. The approach is based on the behaviour of bees when confronted with threats. They will keep away from re-visiting those flowers during the next bout for reasons like predators, rivals, or honey run out. The approach will remove temporarily threatened flowers from the whole tour, eliminating the sharp turn, and reintroduces them again to the habitual tour’s nearest edge. The technique could effectively achieve an equilibrium between exploration and exploitation mechanisms. The results show that the strategy is very competitive compared to other population-based nature-inspired algorithms. Finally, the enhanced Bees Algorithms are demonstrated on two real-world engineering problems, namely, Printed Circuit Board insertion sequencing and vehicles routing problem

15th Conference on Dynamical Systems Theory and Applications DSTA 2019 ABSTRACTS

From Preface: This is the fifteen time when the conference „Dynamical Systems – Theory and Applications” gathers a numerous group of outstanding scientists and engineers, who deal with widely understood problems of theoretical and applied dynamics. Organization of the conference would not have been possible without a great effort of the staff of the Department of Automation, Biomechanics and Mechatronics. The patronage over the conference has been taken by the Committee of Mechanics of the Polish Academy of Sciences and the Ministry of Science and Higher Education. It is a great pleasure that our invitation has been accepted by so many people, including good colleagues and friends as well as a large group of researchers and scientists, who decided to participate in the conference for the first time. With proud and satisfaction we welcome nearly 255 persons from 47 countries all over the world. They decided to share the results of their research and many years experiences in the discipline of dynamical systems by submitting many very interesting papers. This booklet contains a collection of 338 abstracts, which have gained the acceptance of referees and have been qualified for publication in the conference edited books.Technical editor and cover design: Kaźmierczak, MarekCover design: Ogińska, Ewelina; Kaźmierczak, Mare