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.

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.

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.

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

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

A meta-heurística de busca dispersa aplicada no planejamento da expansão de sistemas de transmissão

Pós-graduação em Engenharia Elétrica - FEIS

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

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

Wavelet-galerkin method for computations of electromagnetic fields-computation of connection coefficients

One of the key issues which makes the waveletGalerkin method unsuitable for solving general electromagnetic problems is a lack of exact representations of the connection coefficients. This paper presents the mathematical formulae and computer procedures for computing some common connection coefficients. The characteristic of the present formulae and procedures is that the arbitrary point values of the connection coefficients, rather than the dyadic point values, can be determined. A numerical example is also given to demonstrate the feasibility of using the wavelet-Galerkin method to solve engineering field problems. © 2000 IEEE.

A common Tabu search algorithm for the global optimization of engineering problems

A novel common Tabu algorithm for global optimizations of engineering problems is presented. The robustness and efficiency of the presented method are evaluated by using standard mathematical functions and hy solving a practical engineering problem. The numerical results show that the proposed method is (i) superior to the conventional Tabu search algorithm in robustness, and (ii) superior to the simulated annealing algorithm in efficiency. (C) 2001 Elsevier B.V. B.V. All rights reserved.

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.

Sleep complaints and polysomnographic findings: A study of nuclear power plant shift workers

The literature widely recognizes that shift workers have more health complaints than the general population. The objective of this study was to describe the prevalence of sleep complaints and verify the polysomnographic (PSG) variables of shift workers in two Brazilian nuclear power plants. We carried out a subjective evaluation with a sleep questionnaire. Based on these results, the interviewees that reported sleep-related complaints were referred for polysomnographic evaluation. of the 327 volunteers initially evaluated by the sleep questionnaire, 113 (35%) reported sleep complaints; they were significantly older, had higher body mass index (BMI), and worked more years on shifts than those without sleep complaints. of these 113, 90 met criteria for various sleep disorders: 30 (9%) showed obstructive sleep apnea (OSA), 18 (5.5%) showed limb movement, and 42 (13%) evidenced both sleep problems and had a significantly higher proportion of sleep stage 1 and arousals compared with the 23 shift workers that had no indices of sleep problems. The present study found that 90 (27.5%) of the evaluated participants met the PSG criteria of some type of clinical sleep disorder. This high proportion should be investigated for associations with other aspects of work, such as working hours, working schedule, years performing shift work, and access to health services. Due to the strong association between sleep disorders and the incidence of fatigue and sleepiness, the evaluation of the sleep patterns and complaints of shift workers is essential and should be considered to be one of the basic strategies of industry to prevent accidents.

Cocaine induces cell death and activates the transcription nuclear factor kappa-b in pc12 cells

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

Mathematical tests about the existence and applications of PPS-wavelets in function approximation problems

Neural networks and wavelet transform have been recently seen as attractive tools for developing eficient solutions for many real world problems in function approximation. Function approximation is a very important task in environments where computation has to be based on extracting information from data samples in real world processes. So, mathematical model is a very important tool to guarantee the development of the neural network area. In this article we will introduce one series of mathematical demonstrations that guarantee the wavelets properties for the PPS functions. As application, we will show the use of PPS-wavelets in pattern recognition problems of handwritten digit through function approximation techniques.

Predictor-Corrector Primal-Dual Interior Point Method for Solving Economic Dispatch Problems: A Postoptimization Analysis

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

Efficient robust optimization based on polynomial chaos and tabu search algorithm

The study of robust design methodologies and techniques has become a new topical area in design optimizations in nearly all engineering and applied science disciplines in the last 10 years due to inevitable and unavoidable imprecision or uncertainty which is existed in real word design problems. To develop a fast optimizer for robust designs, a methodology based on polynomial chaos and tabu search algorithm is proposed. In the methodology, the polynomial chaos is employed as a stochastic response surface model of the objective function to efficiently evaluate the robust performance parameter while a mechanism to assign expected fitness only to promising solutions is introduced in tabu search algorithm to minimize the requirement for determining robust metrics of intermediate solutions. The proposed methodology is applied to the robust design of a practical inverse problem with satisfactory results.