Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction condition.However,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to construct.Hence,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model parameters.Meanwhile,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical constraints.Then a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative motion.Finally,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons platform.The knee joint motion achieves a steady-state response after 0.5 s.Meanwhile,the position error of hip joint response is less than 0.03 rad after 0.9 s.In addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·m.This research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model parameters.Furthermore,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.

Design Method for Optimizing the Interactive Interface of Live Broadcasting Platform for the Elderly Users

In the era of network live broadcasting for everyone,the development of live broadcasting platforms is also more intelligent and diversified.However,in the face of a large group of elderly users,the interface interaction design mode used is still mainly based on the interaction mode for young groups,and is not designed for elderly users.Therefore,a design method for optimizing the interaction interface of live broadcasting platform for elderly users was proposed in this study.Firstly,the case study method and Delphi expert survey method were used to determine the design needs of elderly users and the design mode was analysed.Secondly,the orthogonal design principle was used to design a test sample of the interactive interface of live broadcasting platform applicable for the elderly users,and then a user evaluation system was established to calculate the weights of the design elements using hierarchical analysis,and then the predictive relationship between the design mode of the interactive interface of live broadcasting platform and the elderly users was established by Quantitative Theory I.Finally,Genetic Algorithm was applied to generate the optimized design scheme.The results showed that the design method based on the Genetic Algorithm and the combination of Quantitative Theory can scientifically and effectively optimize the design of the interactive interface of the live broadcasting platform for the elderly users,and improve the experience of the elderly users.

Solution for integer linear bilevel programming problems using orthogonal genetic algorithm

An integer linear bilevel programming problem is firstly transformed into a binary linear bilevel programming problem, and then converted into a single-level binary implicit programming. An orthogonal genetic algorithm is developed for solving the binary linear implicit programming problem based on the orthogonal design. The orthogonal design with the factor analysis, an experimental design method is applied to the genetic algorithm to make the algorithm more robust, statistical y sound and quickly convergent. A crossover operator formed by the orthogonal array and the factor analysis is presented. First, this crossover operator can generate a smal but representative sample of points as offspring. After al of the better genes of these offspring are selected, a best combination among these offspring is then generated. The simulation results show the effectiveness of the proposed algorithm.

Improved genetic algorithm for nonlinear programming problems

An improved genetic algorithm（IGA） based on a novel selection strategy to handle nonlinear programming problems is proposed.Each individual in selection process is represented as a three-dimensional feature vector which is composed of objective function value,the degree of constraints violations and the number of constraints violations.It is easy to distinguish excellent individuals from general individuals by using an individuals＇ feature vector.Additionally,a local search（LS） process is incorporated into selection operation so as to find feasible solutions located in the neighboring areas of some infeasible solutions.The combination of IGA and LS should offer the advantage of both the quality of solutions and diversity of solutions.Experimental results over a set of benchmark problems demonstrate that IGA has better performance than other algorithms.

A POLYNOMIAL PREDICTOR-CORRECTOR INTERIOR-POINT ALGORITHM FOR CONVEX QUADRATIC PROGRAMMING

This article presents a polynomial predictor-corrector interior-point algorithm for convex quadratic programming based on a modified predictor-corrector interior-point algorithm. In this algorithm, there is only one corrector step after each predictor step, where Step 2 is a predictor step and Step 4 is a corrector step in the algorithm. In the algorithm, the predictor step decreases the dual gap as much as possible in a wider neighborhood of the central path and the corrector step draws iteration points back to a narrower neighborhood and make a reduction for the dual gap. It is shown that the algorithm has O（√nL） iteration complexity which is the best result for convex quadratic programming so far.

Exponential distribution-based genetic algorithm for solving mixed-integer bilevel programming problems

Two classes of mixed-integer nonlinear bilevel programming problems are discussed. One is that the follower＇s functions are separable with respect to the follower＇s variables, and the other is that the follower＇s functions are convex if the follower＇s variables are not restricted to integers. A genetic algorithm based on an exponential distribution is proposed for the aforementioned problems. First, for each fixed leader＇s variable x, it is proved that the optimal solution y of the follower＇s mixed-integer programming can be obtained by solving associated relaxed problems, and according to the convexity of the functions involved, a simplified branch and bound approach is given to solve the follower＇s programming for the second class of problems. Furthermore, based on an exponential distribution with a parameter λ, a new crossover operator is designed in which the best individuals are used to generate better offspring of crossover. The simulation results illustrate that the proposed algorithm is efficient and robust.

Orthogonal genetic algorithm for solving quadratic bilevel programming problems

A quadratic bilevel programming problem is transformed into a single level complementarity slackness problem by applying Karush-Kuhn-Tucker（KKT） conditions.To cope with the complementarity constraints,a binary encoding scheme is adopted for KKT multipliers,and then the complementarity slackness problem is simplified to successive quadratic programming problems,which can be solved by many algorithms available.Based on 0-1 binary encoding,an orthogonal genetic algorithm,in which the orthogonal experimental design with both two-level orthogonal array and factor analysis is used as crossover operator,is proposed.Numerical experiments on 10 benchmark examples show that the orthogonal genetic algorithm can find global optimal solutions of quadratic bilevel programming problems with high accuracy in a small number of iterations.

Random Fuzzy Chance-constrained Programming Based on Adaptive Chaos Quantum Honey Bee Algorithm and Robustness Analysis

This paper proposes an adaptive chaos quantum honey bee algorithm （CQHBA） for solving chance-constrained program- ming in random fuzzy environment based on random fuzzy simulations. Random fuzzy simulation is designed to estimate the chance of a random fuzzy event and the optimistic value to a random fuzzy variable. In CQHBA, each bee carries a group of quantum bits representing a solution. Chaos optimization searches space around the selected best-so-far food source. In the marriage process, random interferential discrete quantum crossover is done between selected drones and the queen. Gaussian quantum mutation is used to keep the diversity of whole population. New methods of computing quantum rotation angles are designed based on grads. A proof of con- vergence for CQHBA is developed and a theoretical analysis of the computational overhead for the algorithm is presented. Numerical examples are presented to demonstrate its superiority in robustness and stability, efficiency of computational complexity, success rate, and accuracy of solution quality. CQHBA is manifested to be highly robust under various conditions and capable of handling most random fuzzy programmings with any parameter settings, variable initializations, system tolerance and confidence level, perturbations, and noises.

Primal-Dual Interior-Point Algorithms with Dynamic Step-Size Based on Kernel Functions for Linear Programming

In this paper, primal-dual interior-point algorithm with dynamic step size is implemented for linear programming （LP） problems. The algorithms are based on a few kernel functions, including both serf-regular functions and non-serf-regular ones. The dynamic step size is compared with fixed step size for the algorithms in inner iteration of Newton step. Numerical tests show that the algorithms with dynaraic step size are more efficient than those with fixed step size.

An Exact Virtual Network Embedding Algorithm Based on Integer Linear Programming for Virtual Network Request with Location Constraint

Network virtualization is known as a promising technology to tackle the ossification of current Internet and will play an important role in the future network area. Virtual network embedding(VNE) is a key issue in network virtualization. VNE is NP-hard and former VNE algorithms are mostly heuristic in the literature.VNE exact algorithms have been developed in recent years. However, the constraints of exact VNE are only node capacity and link bandwidth.Based on these, this paper presents an exact VNE algorithm, ILP-LC, which is based on Integer Linear Programming(ILP), for embedding virtual network request with location constraints. This novel algorithm is aiming at mapping virtual network request(VNR) successfully as many as possible and consuming less substrate resources.The topology of each VNR is randomly generated by Waxman model. Simulation results show that the proposed ILP-LC algorithm outperforms the typical heuristic algorithms in terms of the VNR acceptance ratio, at least 15%.

Prediction of Concrete Faced Rock Fill Dams Settlements Using Genetic Programming Algorithm

In the present study a Genetic Programing model (GP) proposed for the prediction of relative crest settlement of concrete faced rock fill dams. To this end information of 30 large dams constructed in seven countries across the world is gathered with their reported settlements. The results showed that the GP model is able to estimate the dam settlement properly based on four properties, void ratio of dam’s body (e), height (H), vertical deformation modulus (Ev) and shape factor (Sc) of the dam. For verification of the model applicability, obtained results compared with other research methods such as Clements’s formula and the finite element model. The comparison showed that in all cases the GP model led to be more accurate than those of performed in literature. Also a proper compatibility between the GP model and the finite element model was perceived.

Two new predictor-corrector algorithms for second-order cone programming

Based on the ideas of infeasible interior-point methods and predictor-corrector algorithms, two interior-point predictor-corrector algorithms for the second-order cone programming （SOCP） are presented. The two algorithms use the Newton direction and the Euler direction as the predictor directions, respectively. The corrector directions belong to the category of the Alizadeh-Haeberly-Overton （AHO） directions. These algorithms are suitable to the cases of feasible and infeasible interior iterative points. A simpler neighborhood of the central path for the SOCP is proposed, which is the pivotal difference from other interior-point predictor-corrector algorithms. Under some assumptions, the algorithms possess the global, linear, and quadratic convergence. The complexity bound O（rln（εo/ε）） is obtained, where r denotes the number of the second-order cones in the SOCP problem. The numerical results show that the proposed algorithms are effective.

Interactive Genetic Algorithms with Fitness Adjustment

Noises widely exist in interactive genetic algorithms. However, there is no effective method to solve this problem up to now. There are two kinds of noises, one is the noise existing in visual systems and the other is resulted from user’s preference mechanisms. Characteristics of the two noises are presented aiming at the application of interac- tive genetic algorithms in dealing with images. The evolutionary phases of interactive genetic algorithms are determined according to differences in the same individual’s fitness among different generations. Models for noises in different phases are established and the corresponding strategies for reducing noises are given. The algorithm proposed in this paper has been applied to fashion design, which is a typical example of image processing. The results show that the strategies can reduce noises in interactive genetic algorithms and improve the algorithm’s performance effectively. However, a further study is needed to solve the problem of determining the evolution phase by using suitable objective methods so as to find out an effective method to decrease noises.

Genetic Algorithm for Solving Quadratic Bilevel Programming Problem

By applying Kuhn-Tucker condition the quadratic bilevel programming, a class of bilevel programming, is transformed into a single level programming problem, which can be simplified by some rule. So we can search the optimal solution in the feasible region, hence reduce greatly the searching space. Numerical experiments on several literature problems show that the new algorithm is both feasible and effective in practice.

Surrogate model-assisted interactive genetic algorithms with individual’s fuzzy and stochastic fitness

We propose a surrogate model-assisted algorithm by using a directed fuzzy graph to extract a user’s cognition on evaluated individuals in order to alleviate user fatigue in interactive genetic algorithms with an individual’s fuzzy and stochastic fitness. We firstly present an approach to construct a directed fuzzy graph of an evolutionary population according to individuals’ dominance relations, cut-set levels and interval dominance probabilities, and then calculate an individual’s crisp fitness based on the out-degree and in-degree of the fuzzy graph. The approach to obtain training data is achieved using the fuzzy entropy of the evolutionary system to guarantee the credibilities of the samples which are used to train the surrogate model. We adopt a support vector regression machine as the surrogate model and train it using the sampled individuals and their crisp fitness. Then the surrogate model is optimized using the traditional genetic algorithm for some generations, and some good individuals are submitted to the user for the subsequent evolutions so as to guide and accelerate the evolution. Finally, we quantitatively analyze the performance of the presented algorithm in alleviating user fatigue and increasing more opportunities to find the satisfactory individuals, and also apply our algorithm to a fashion evolutionary design system to demonstrate its efficiency.

Fast interactive segmentation algorithm of image sequences based on relative fuzzy connectedness

A fast interactive segmentation algorithm of image-sequences based on relative fuzzy connectedness is presented. In comparison with the original algorithm, the proposed one, with the same accuracy, accelerates the segmentation speed by three times for single image. Meanwhile, this fast segmentation algorithm is extended from single object to multiple objects and from single-image to image-sequences. Thus the segmentation of multiple objects from complex hackground and batch segmentation of image-sequences can be achieved. In addition, a post-processing scheme is incorporated in this algorithm, which extracts smooth edge with one-pixel-width for each segmented object. The experimental results illustrate that the proposed algorithm can obtain the object regions of interest from medical image or image-sequences as well as man-made images quickly and reliably with only a little interaction.

Improved particle filtering techniques based on generalized interactive genetic algorithm

This paper improves the resampling step of particle filtering（PF） based on a broad interactive genetic algorithm to resolve particle degeneration and particle shortage.For target tracking in image processing,this paper uses the information coming from the particles of the previous fame image and new observation data to self-adaptively determine the selecting range of particles in current fame image.The improved selecting operator with jam gene is used to ensure the diversity of particles in mathematics,and the absolute arithmetical crossing operator whose feasible solution space being close about crossing operation,and non-uniform mutation operator is used to capture all kinds of mutation in this paper.The result of simulating experiment shows that the algorithm of this paper has better iterative estimating capability than extended Kalman filtering（EKF）,PF,regularized partide filtering（RPF）,and genetic algorithm（GA）-PF.

Hierarchical On-line Scheduling of Multiproduct Batch Plants with a Combined Approach of Mathematical Programming and Genetic Algorithm

In this contribution we present an online scheduling algorithm for a real world multiproduct batch plant. The overall mixed integer nonlinear programming (MINLP) problem is hierarchically structured into a mixed integer linear programming (MILP) problem first and then a reduced dimensional MINLP problem, which are optimized by mathematical programming (MP) and genetic algorithm (GA) respectively. The basis idea relies on combining MP with GA to exploit their complementary capacity. The key features of the hierarchical model are explained and illustrated with some real world cases from the multiproduct batch plants.

A Primal-Dual Simplex Algorithm for Solving Linear Programming Problems with Symmetric Trapezoidal Fuzzy Numbers

Two existing methods for solving a class of fuzzy linear programming (FLP) problems involving symmetric trapezoidal fuzzy numbers without converting them to crisp linear programming problems are the fuzzy primal simplex method proposed by Ganesan and Veeramani [1] and the fuzzy dual simplex method proposed by Ebrahimnejad and Nasseri [2]. The former method is not applicable when a primal basic feasible solution is not easily at hand and the later method needs to an initial dual basic feasible solution. In this paper, we develop a novel approach namely the primal-dual simplex algorithm to overcome mentioned shortcomings. A numerical example is given to illustrate the proposed approach.

Smoothing Newton Algorithm for Linear Programming over Symmetric Cones

By using the theory of Euclidean Jordan algebras,based on a new class of smoothing functions,the QiSun-Zhou's smoothing Newton algorithm is extended to solve linear programming over symmetric cones(SCLP).The algorithm is globally convergent under suitable assumptions.