Research on Trajectory Tracking Method of Redundant Manipulator Based on PSO Algorithm Optimization

Aiming at the problem that the trajectory tracking performance of redundant manipulator corresponding to the target position is difficult to optimize,the trajectory tracking method of redundant manipulator based on PSO algorithm optimization is studied.The kinematic diagram of redundant manipulator is created,to derive the equation of motion trajectory of redundant manipulator end.Pseudo inverse Jacobi matrix is used to solve the problem of manipulator redundancy.Based on the tracking ellipse of redundant manipulator,the tracking shape of redundant manipulator is determined with the overall tracking index as the second index,and the optimization method of tracking index is proposed.The redundant manipulator contour is located by active contour model,on this basis,combined with particle swarm optimization algorithm,the point coordinates on the circumference with the relevant joint point as the center and joint length as the radius are selected as the algorithm particles for iteration,and the optimal tracking results of the overall redundant manipulator trajectory are obtained.The experimental results show that under the proposed method,the tracking error of the redundant manipulator is low,and the error jump range is small.It shows that this method has high tracking accuracy and reliability.

Multi-Source Underwater DOA Estimation Using PSO-BP Neural Network Based on High-Order Cumulant Optimization

Due to the complex and changeable environment under water,the performance of traditional DOA estimation algorithms based on mathematical model,such as MUSIC,ESPRIT,etc.,degrades greatly or even some mistakes can be made because of the mismatch between algorithm model and actual environment model.In addition,the neural network has the ability of generalization and mapping,it can consider the noise,transmission channel inconsistency and other factors of the objective environment.Therefore,this paper utilizes Back Propagation(BP)neural network as the basic framework of underwater DOA estimation.Furthermore,in order to improve the performance of DOA estimation of BP neural network,the following three improvements are proposed.(1)Aiming at the problem that the weight and threshold of traditional BP neural network converge slowly and easily fall into the local optimal value in the iterative process,PSO-BP-NN based on optimized particle swarm optimization(PSO)algorithm is proposed.(2)The Higher-order cumulant of the received signal is utilized to establish the training model.(3)A BP neural network training method for arbitrary number of sources is proposed.Finally,the effectiveness of the proposed algorithm is proved by comparing with the state-of-the-art algorithms and MUSIC algorithm.

Dynamic Multi-objective Optimization of Chemical Processes Using Modified BareBones MOPSO Algorithm

Dynamic multi-objective optimization is a complex and difficult research topic of process systems engineering. In this paper,a modified multi-objective bare-bones particle swarm optimization( MOBBPSO) algorithm is proposed that takes advantage of a few parameters of bare-bones algorithm. To avoid premature convergence,Gaussian mutation is introduced; and an adaptive sampling distribution strategy is also used to improve the exploratory capability. Moreover, a circular crowded sorting approach is adopted to improve the uniformity of the population distribution.Finally, by combining the algorithm with control vector parameterization,an approach is proposed to solve the dynamic optimization problems of chemical processes. It is proved that the new algorithm performs better compared with other classic multiobjective optimization algorithms through the results of solving three dynamic optimization problems.

Particle swarm optimization-based algorithm of a symplectic method for robotic dynamics and control

Multibody system dynamics provides a strong tool for the estimation of dynamic performances and the optimization of multisystem robot design. It can be described with differential algebraic equations(DAEs). In this paper, a particle swarm optimization(PSO) method is introduced to solve and control a symplectic multibody system for the first time. It is first combined with the symplectic method to solve problems in uncontrolled and controlled robotic arm systems. It is shown that the results conserve the energy and keep the constraints of the chaotic motion, which demonstrates the efficiency, accuracy, and time-saving ability of the method. To make the system move along the pre-planned path, which is a functional extremum problem, a double-PSO-based instantaneous optimal control is introduced. Examples are performed to test the effectiveness of the double-PSO-based instantaneous optimal control. The results show that the method has high accuracy, a fast convergence speed, and a wide range of applications.All the above verify the immense potential applications of the PSO method in multibody system dynamics.

Neural network hyperparameter optimization based on improved particle swarm optimization

Hyperparameter optimization is considered as one of the most challenges in deep learning and dominates the precision of model in a certain.Recent proposals tried to solve this issue through the particle swarm optimization(PSO),but its native defect may result in the local optima trapped and convergence difficulty.In this paper,the genetic operations are introduced to the PSO,which makes the best hyperparameter combination scheme for specific network architecture be located easier.Spe-cifically,to prevent the troubles caused by the different data types and value scopes,a mixed coding method is used to ensure the effectiveness of particles.Moreover,the crossover and mutation opera-tions are added to the process of particles updating,to increase the diversity of particles and avoid local optima in searching.Verified with three benchmark datasets,MNIST,Fashion-MNIST,and CIFAR10,it is demonstrated that the proposed scheme can achieve accuracies of 99.58%,93.39%,and 78.96%,respectively,improving the accuracy by about 0.1%,0.5%,and 2%,respectively,compared with that of the PSO.

Springback prediction for incremental sheet forming based on FEM-PSONN technology

In the incremental sheet forming （ISF） process, springback is a very important factor that affects the quality of parts. Predicting and controlling springback accurately is essential for the design of the toolpath for ISF. A three-dimensional elasto-plastic finite element model （FEM） was developed to simulate the process and the simulated results were compared with those from the experiment. The springback angle was found to be in accordance with the experimental result, proving the FEM to be effective. A coupled artificial neural networks （ANN） and finite element method technique was developed to simulate and predict springback responses to changes in the processing parameters. A particle swarm optimization （PSO） algorithm was used to optimize the weights and thresholds of the neural network model. The neural network was trained using available FEM simulation data. The results showed that a more accurate prediction of s!oringback can be acquired using the FEM-PSONN model.

Optimal strategy of searching FPD weights scanning matrix using GA-PSO

This paper discusses a kind of optimal method used for searching flat panel display （FPD） scanning matrix. The method adopts bionic algorithm： genetic algorithm （GA） and particle swarm optimization （PSO） algorithm. The method using single GA is more time-consuming, and the search efficiency is low in later evolution; the PSO algorithm is easily falling into the local optimal solution and appears the premature convergent phenomenon. Hence, a hybrid approach of GAPSO is found to optimize the search for high grayscale weights scanning matrix. Finally in the acceptable time, it finds a weight scanning matrix （WSM） of 256 gray scales with Matlab, whose scanning efficiency reaches 94.73% and the linearity is very good.

Optimal integration of DGs into radial distribution network in the presence of plug-in electric vehicles to minimize daily active power losses and to improve the voltage profile of the system using bioinspired optimization algorithms

Purpose:The increase in plug-in electric vehicles(PEVs)is likely to see a noteworthy impact on the distribution system due to high electric power consumption during charging and uncertainty in charging behavior.To address this problem,the present work mainly focuses on optimal integration of distributed generators(DG)into radial distribution systems in the presence of PEV loads with their charging behavior under daily load pattern including load models by considering the daily(24 h)power loss and voltage improvement of the system as objectives for better system performance.Design/methodology/approach:To achieve the desired outcomes,an efficient weighted factor multi-objective function is modeled.Particle Swarm Optimization(PSO)and Butterfly Optimization(BO)algorithms are selected and implemented to minimize the objectives of the system.A repetitive backward-forward sweep-based load flow has been introduced to calculate the daily power loss and bus voltages of the radial distribution system.The simulations are carried out using MATLAB software.Findings:The simulation outcomes reveal that the proposed approach definitely improved the system performance in all aspects.Among PSO and BO,BO is comparatively successful in achieving the desired objectives.Originality/value:The main contribution of this paper is the formulation of the multi-objective function that can address daily active power loss and voltage deviation under 24-h load pattern including grouping of residential,industrial and commercial loads.Introduction of repetitive backward-forward sweep-based load flow and the modeling of PEV load with two different charging scenarios.

Research on the Optimization Approach for Cargo Oil Tank Design Based on the Improved Particle Swarm Optimization Algorithm

Based on the improved particle swarm optimization(PSO) algorithm,an optimization approach for the cargo oil tank design(COTD) is presented in this paper.The purpose is to design an optimal overall dimension of the cargo oil tank(COT) under various kinds of constraints in the preliminary design stage.A non-linear programming model is built to simulate the optimization design,in which the requirements and rules for COTD are used as the constraints.Considering the distance between the inner shell and hull,a fuzzy constraint is used to express the feasibility degree of the double-hull configuration.In terms of the characteristic of COTD,the PSO algorithm is improved to solve this problem.A bivariate extremum strategy is presented to deal with the fuzzy constraint,by which the maximum and minimum cargo capacities are obtained simultaneously.Finally,the simulation demonstrates the feasibility and effectiveness of the proposed approach.

Optimal Intelligent Reconfiguration of Distribution Network in the Presence of Distributed Generation and Storage System

In the present paper,the distribution feeder reconfiguration in the presence of distributed generation resources(DGR)and energy storage systems(ESS)is solved in the dynamic form.Since studies on the reconfiguration problem have ignored the grid security and reliability,the non-distributed energy index along with the energy loss and voltage stability indices has been assumed as the objective functions of the given problem.To achieve the mentioned benefits,there are several practical plans in the distribution network.One of these applications is the network rearrangement plan,which is the simplest and least expensive way to add equipment to the network.Besides,by adding the DGRs to the distribution grid,the radial mode of the grid and the one-sided passage of power are eliminated,and the ordinary and simple grid is replaced with a complex grid.In this paper,an improved particle clustering algorithm is used to solve the distribution network rearrangement problem with the presence of distributed generation sources.The PQ model and the PV model are both considered,and for this purpose,a model based on the compensation technique is used to model the PV busbars.The proposed developed model has particularly improved the local and global search of this algorithm.The reconfiguration problem is discussed and investigated considering different scenarios in a standard 33-bus grid as a well-known power system in different scenarios in the presence and absence of the DGRs.Then,the obtained results are compared.

Pattern synthesis of antennas based on a modified particle swarm optimization algorithm

In order to overcome the drawbacks of standard particle swarm optimization(PSO)algorithm,such as prematurity and easily trapping in local optimum,a modified PSO algorithm is proposed,in which special techniques,as global best perturbation and inertia weight jump threshold are adopted.The convergence speed and accuracy of the algo-rithm are improved.The test by some benchmark problems shows that the proposed algorithm achieves relatively higher performance.Thereafter,the applications of the modified PSO in the radiation pattern synthesis of antenna arrays are presented.

Bio-inspired Hybrid Feature Selection Model for Intrusion Detection

Intrusion detection is a serious and complex problem.Undoubtedly due to a large number of attacks around the world,the concept of intrusion detection has become very important.This research proposes a multilayer bioinspired feature selection model for intrusion detection using an optimized genetic algorithm.Furthermore,the proposed multilayer model consists of two layers(layers 1 and 2).At layer 1,three algorithms are used for the feature selection.The algorithms used are Particle Swarm Optimization(PSO),Grey Wolf Optimization(GWO),and Firefly Optimization Algorithm(FFA).At the end of layer 1,a priority value will be assigned for each feature set.At layer 2 of the proposed model,the Optimized Genetic Algorithm(GA)is used to select one feature set based on the priority value.Modifications are done on standard GA to perform optimization and to fit the proposed model.The Optimized GA is used in the training phase to assign a priority value for each feature set.Also,the priority values are categorized into three categories:high,medium,and low.Besides,the Optimized GA is used in the testing phase to select a feature set based on its priority.The feature set with a high priority will be given a high priority to be selected.At the end of phase 2,an update for feature set priority may occur based on the selected features priority and the calculated F-Measures.The proposed model can learn and modify feature sets priority,which will be reflected in selecting features.For evaluation purposes,two well-known datasets are used in these experiments.The first dataset is UNSW-NB15,the other dataset is the NSL-KDD.Several evaluation criteria are used,such as precision,recall,and F-Measure.The experiments in this research suggest that the proposed model has a powerful and promising mechanism for the intrusion detection system.

A Discrete Bat Algorithm for Disassembly Sequence Planning

Based on the bat algorithm(BA), this paper proposes a discrete BA(DBA) approach to optimize the disassembly sequence planning(DSP) problem, for the purpose of obtaining an optimum disassembly sequence(ODS) of a product with a high degree of automation and guiding maintenance operation. The BA for solving continuous problems is introduced, and combining with mathematical formulations, the BA is reformed to be the DBA for DSP problems. The fitness function model(FFM) is built to evaluate the quality of disassembly sequences. The optimization performance of the DBA is tested and verified by an application case, and the DBA is compared with the genetic algorithm(GA), particle swarm optimization(PSO) algorithm and differential mutation BA(DMBA). Numerical experiments show that the proposed DBA has a better optimization capability and provides more accurate solutions than the other three algorithms.

PSO Optimal Control of Model-free Adaptive Control for PVC Polymerization Process

Polyvinyl chloride （PVC） polymerizing process is a typical complicated industrial process with the characteristics of large inertia, big time delay and nonlinearity. Firstly, for the general nonlinear and discrete time system, a design scheme of model-free adaptive （MFA） controller is given. Then, particle swarm optimization （PSO） algorithm is applied to optimizing and setting the key parameters for controller tuning. After that, the MFA controller is used to control the system of polymerizing temperature. Finally, simulation results are given to show that the MAC strategy based on PSO obtains a good controlling performance index.

Large Thinned Array Design Based on Multi-objective Cross Entropy Algorithm

To consider multi-objective optimization problem with the number of feed array elements and sidelobe level of large antenna array, multi-objective cross entropy(CE) algorithm is proposed by combining fuzzy c-mean clustering algorithm with traditional cross entropy algorithm, and specific program flow of the algorithm is given.Using the algorithm, large thinned array(200 elements) given sidelobe level(-10,-19 and-30 d B) problem is solved successfully. Compared with the traditional statistical algorithms, the optimization results of the algorithm validate that the number of feed array elements reduces by 51%, 11% and 6% respectively. In addition, compared with the particle swarm optimization(PSO) algorithm, the number of feed array elements from the algorithm is more similar, but the algorithm is more efficient.

Near Optimal PID Controllers for the Biped Robot While Walking on Uneven Terrains

The execution of the gaits generated with the help of a gait planner is a crucial task in biped locomotion. This task is to be achieved with the help of a suitable torque based controller to ensure smooth walk of the biped robot. It is important to note that the success of the developed proportion integration differentiation （PID） controller depends on the selected gains of the controller. In the present study, an attempt is made to tune the gains of the PID controller for the biped robot ascending and descending the stair case and sloping surface with the help of two non-traditional optimization algorithms, namely modified chaotic invasive weed optimization （MCIWO） and particle swarm optimization （PSO） algorithms. Once the optimal PID controllers are developed, a simulation study has been conducted in computer for obtaining the optimal tuning parameters of the controller of the biped robot. Finally, the optimal gait angles obtained by using the best controller are fed to the real biped robot and found that the biped robot has successfully negotiated the said terrains.

Study on Spot Addressing and Segmentation Method for Microarray Image

This paper presents a novel method of spot addressing and segmentation about the foreground segmentation of microarray image. In this paper,a spot addressing method based on particle swarm optimization(PSO),algorithm is proposed to have a further search for the center coordinate and radius of the spot whose region is determined by the projection method. Then,a foreground segmentation method is put forward to make the spot foreground segmentation based on the center coordinate and radius of the spot. The spot addressing and segmentation experiments on synthetic and real microarray images show that the proposed method is effective and feasible for the foreground segmentation of microarray image.