Optimal trajectory and solution of the inverse kinematics of a robotic manipulator by genetic algorithms

This paper presents the generation of optimal trajectories by genetic algorithms (GA) for a planar robotic manipulator. The implemented GA considers a multi-objective function that minimizes the end-effector positioning error together with the joints angular displacement and it solves the inverse kinematics problem for the trajectory. Computer simulations results are presented to illustrate this implementation and show the efficiency of the used methodology producing soft trajectories with low computing cost. © 2011 Springer-Verlag Berlin Heidelberg.

Avaliação de operadores de algoritmos genéticos em otimização multidimensional

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Short-wave instabilities in the Benjamin-Bona-Mahoney-Peregrine equation: theory and numerics

In this paper we discuss the nonlinear propagation of waves of short wavelength in dispersive systems. We propose a family of equations that is likely to describe the asymptotic behaviour of a large class of systems. We then restrict our attention to the analysis of the simplest nonlinear short-wave dynamics given by U-0 xi tau, = U-0 - 3(U-0)(2). We integrate numerically this equation for periodic and non-periodic boundary conditions, and we find that short waves may exist only if the amplitude of the initial profile is not too large.

Nonlinear parameter estimation in laminar forced convection within a circular sector tube

In this article we examine an inverse heat convection problem of estimating unknown parameters of a parameterized variable boundary heat flux. The physical problem is a hydrodynamically developed, thermally developing, three-dimensional steady state laminar flow of a Newtonian fluid inside a circular sector duct, insulated in the flat walls and subject to unknown wall heat flux at the curved wall. Results are presented for polynomial and sinusoidal trial functions, and the unknown parameters as well as surface heat fluxes are determined. Depending on the nature of the flow, on the position of experimental points the inverse problem sometimes could not be solved. Therefore, an identification condition is defined to specify a condition under which the inverse problem can be solved. Once the parameters have been computed it is possible to obtain the statistical significance of the inverse problem solution. Therefore, approximate confidence bounds based on standard statistical linear procedure, for the estimated parameters, are analyzed and presented.

Detecção de falhas estruturais usando sensores e atuadores piezelétricos e algoritmos genéticos

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

String-averaging expectation-maximization for maximum likelihood estimation in emission tomography

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Limit cycles for singular perturbation problems via inverse integrating factor

In this paper singularly perturbed vector fields Xε defined in ℝ2 are discussed. The main results use the solutions of the linear partial differential equation XεV = div(Xε)V to give conditions for the existence of limit cycles converging to a singular orbit with respect to the Hausdorff distance. © SPM.

On the relationship between a 2 x 2 matrix and second-order scalar spectral problems for integrable equations

A simple proof is given that a 2 x 2 matrix scheme for an inverse scattering transform method for integrable equations can be converted into the standard form of the second-order scalar spectral problem associated with the same equations. Simple formulae relating these two kinds of representation of integrable equations are established.

Suggestion of an inverse relationship between perception of occupational risks and work-related injuries

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Efeito túnel multidimensional em reações nucleares

Pós-graduação em Física - IFT