MOSDA: A proposal for multiple objective spiral dynamics algorithm

This paper proposed a multi-objective spiral dynamic algorithm (MOSDA) to solve multiple objectives problems. SDA is originally a single objective optimizer that inspired based on the spiral phenomena in nature. It has a good elitism strategy and has a simple structure. A method called “archive method” that is used in multi-objective particle swarm optimization (MOPSO) is adopted into SDA to develop its multiobjective (MO) type algorithm. Moreover, MOSDA is formulated by applying the widely-used concept of Pareto dominance to determine the movement of the particles and at the same time, the algorithm maintains the non-dominated solution in a setup global repository. These non-dominated solutions then will be used to guide other particles to move. The proposed algorithm is tested with several benchmark functions for multi-objective problems. Pareto front (PF) graphs are presented as the results of these tests. The accuracy and diversity of the produced PF are highly competitive compared to MOPSO

Modeling and design of two link robotic manipulator for grading and sorting of rotationally symmetric products

This paper present a design and modeling for a two link robotic manipulator for grading and sorting system. The mechanical design calculation of the robotic manipulator is accomplished firstly to estimate the torques and positions of manipulator that are required to move a certain payloads from one to another position, which is resulted by choosing of the right electrical motors. The mechanical design drawings for this manipulator system are fully done using Autodesk Inventor Software which concerns the real joint of the robotic manipulator. The dynamic equation of the robotic manipulator system is derived using the Lagrange equation which is then represented in the state space method to make simple for utilization in Simulation and real-time systems

Review on real-time control schemes for wheeled mobile robot

The purpose of this paper is to review real-time control motion algorithms for wheeled mobile robot (WMR) when navigating in environment such as road. Its need a good controller to avoid collision with any disturbance and maintain a track error with zero level. The controllers is used with and other aiding sensors to measure the WMR’s velocities, posture, and interference to estimate the needed torque of mobile robot due to wheel rotating. Four main categories for wheeled mobile robot control that have been found in literature which are namely: Kinematic based controller, Dynamic based controllers, artificial intelligence based control system, and Active Force control. A MATLAB/Simulink software is the main software to simulate and implement control system. The real-time toolbox in MATLAB/SIMULINK are used to receive/send data from sensors/to actuator with existing of real path disturbances