Optimal location of the workpiece in a PKM-based machining robotic cell

Most machining tasks require high accuracy and are carried out by dedicated machine-tools. On the other hand, traditional robots are flexible and easy to program, but they are rather inaccurate for certain tasks. Parallel kinematic robots could combine the accuracy and flexibility that are usually needed in machining operations. Achieving this goal requires proper design of the parallel robot. In this chapter, a multi-objective particle swarm optimization algorithm is used to optimize the structure of a parallel robot according to specific criteria. Afterwards, for a chosen optimal structure, the best location of the workpiece with respect to the robot, in a machining robotic cell, is analyzed based on the power consumed by the manipulator during the machining process.

Trajectory planning of redundant manipulators using genetic algorithms

The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. The results are compared with a genetic algorithm that adopts the direct kinematics. In both cases the trajectory planning is formulated as an optimization problem with constraints.

Desenvolvimento de modelo para a melhoria do planeamento da manutenção

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Mecânica

Materials selection for a set of multiple parts considering manufacturing costs and weight reduction with structural isoperformance using direct multisearch optimization

Materials selection is a matter of great importance to engineering design and software tools are valuable to inform decisions in the early stages of product development. However, when a set of alternative materials is available for the different parts a product is made of, the question of what optimal material mix to choose for a group of parts is not trivial. The engineer/designer therefore goes about this in a part-by-part procedure. Optimizing each part per se can lead to a global sub-optimal solution from the product point of view. An optimization procedure to deal with products with multiple parts, each with discrete design variables, and able to determine the optimal solution assuming different objectives is therefore needed. To solve this multiobjective optimization problem, a new routine based on Direct MultiSearch (DMS) algorithm is created. Results from the Pareto front can help the designer to align his/hers materials selection for a complete set of materials with product attribute objectives, depending on the relative importance of each objective.

Multiobjective optimization for node adaptation in the analysis of composite plates using a meshless collocation method

The bending of simply supported composite plates is analyzed using a direct collocation meshless numerical method. In order to optimize node distribution the Direct MultiSearch (DMS) for multi-objective optimization method is applied. In addition, the method optimizes the shape parameter in radial basis functions. The optimization algorithm was able to find good solutions for a large variety of nodes distribution.

Análise numérica e experimental de um modelo dinâmico da ponte ferroviária de Antuã

Mestrado em Engenharia Civil – Ramo Estruturas

Adapting Meeting Tools to Agent Decision

Electricity markets are complex environments comprising several negotiation mechanisms. MASCEM (Multi- Agent System for Competitive Electricity Markets) is a simulator developed to allow deep studies of the interactions between the players that take part in the electricity market negotiations. ALBidS (Adaptive Learning Strategic Bidding System) is a multiagent system created to provide decision support to market negotiating players. Fully integrated with MASCEM it considers several different methodologies based on very distinct approaches. The Six Thinking Hats is a powerful technique used to look at decisions from different perspectives. This paper aims to complement ALBidS strategies usage by MASCEM players, providing, through the Six Thinking Hats group decision technique, a means to combine them and take advantages from their different perspectives. The combination of the different proposals resulting from ALBidS’ strategies is performed through the application of a Genetic Algorithm, resulting in an evolutionary learning approach.

Probabilistic maintenance and optimization strategies for deteriorating civil infrastructures

In developed countries, civil infrastructures are one of the most significant investments of governments, corporations, and individuals. Among these, transportation infrastructures, including highways, bridges, airports, and ports, are of huge importance, both economical and social. Most developed countries have built a fairly complete network of highways to fit their needs. As a result, the required investment in building new highways has diminished during the last decade, and should be further reduced in the following years. On the other hand, significant structural deteriorations have been detected in transportation networks, and a huge investment is necessary to keep these infrastructures safe and serviceable. Due to the significant importance of bridges in the serviceability of highway networks, maintenance of these structures plays a major role. In this paper, recent progress in probabilistic maintenance and optimization strategies for deteriorating civil infrastructures with emphasis on bridges is summarized. A novel model including interaction between structural safety analysis,through the safety index, and visual inspections and non destructive tests, through the condition index, is presented. Single objective optimization techniques leading to maintenance strategies associated with minimum expected cumulative cost and acceptable levels of condition and safety are presented. Furthermore, multi-objective optimization is used to simultaneously consider several performance indicators such as safety, condition, and cumulative cost. Realistic examples of the application of some of these techniques and strategies are also presented.

New Concepts Towards the Synthesis of Digital Circuits Through Genetic Algorithms

This paper analyses the performance of a Genetic Algorithm using two new concepts, namely a static fitness function including a discontinuity measure and a fractional-order dynamic fitness function, for the synthesis of combinational logic circuits. In both cases, experiments reveal superior results in terms of speed and convergence to achieve a solution.

A Real-Time Optimization for 2R Manipulators

This work proposes a real-time algorithm to generate a trajectory for a 2 link planar robotic manipulator. The objective is to minimize the space/time ripple and the energy requirements or the time duration in the robot trajectories. The proposed method uses an off line genetic algorithm to calculate every possible trajectory between all cells of the workspace grid. The resultant trajectories are saved in several trees. Then any trajectory requested is constructed in real-time, from these trees. The article presents the results for several experiments.

Algoritmo genético para empacotamento de contentores

No âmbito da investigação operacional o problema de empacotamento de contentores é conhecido por procurar definir uma configuração de carga, de forma a otimizar a utilização de um espaço disponível para efetuar o empacotamento. Este problema pode ser apresentado em diversas formas, formas estas que variam em função das características de cada empacotamento. Estas características podem ser: o tipo de carga que se pretende carregar (homogénea ou heterogénea), a possibilidade de a carga poder sofrer rotações em todas as suas dimensões ou apenas em algumas, o lucro que está associado a cada caixa carregada ou restrições inerentes ao contentor como por exemplo dimensões. O interesse pelo estudo de problemas de empacotamento de contentores tem vindo a receber cada vez mais ênfase por várias razões, uma delas é o interesse financeiro dado que o transporte é uma prática que representa custos, sendo importante diminuir estes custos aproveitando o volume do contentor da melhor forma. Outra preocupação que motiva o estudo deste problema prende-se com fatores ambientes, onde se procura racionalizar os recursos naturais estando esta também ligada a questões financeiras. Na literatura podem ser encontradas varias propostas para solucionar este problema, cada uma destas dirigidas a uma variante do problema, estas propostas podem ser determinísticas ou não determinísticas onde utilizam heurísticas ou metaheurísticas. O estudo realizado nesta dissertação descreve algumas destas propostas, nomeadamente as metaheurísticas que são utilizadas na resolução deste problema. O trabalho aqui apresentado traz também uma nova metaheurísticas, mais precisamente um algoritmo genético que terá como objetivo, apresentar uma configuração de carga para um problema de empacotamento de um contentor. O algoritmo genético tem como objetivo a resolução do seguinte problema: empacotar várias caixas retangulares com diversos tamanhos num contentor. Este problema é conhecido como Bin-Packing. A novidade que este algoritmo genético vai introduzir nas diversas soluções apresentadas até à data, é uma nova forma de criar padrões iniciais, ou seja, é utilizada a heurística HSSI (Heurística de Suavização de Superfícies Irregulares) que tem como objetivo criar uma população inicial de forma a otimizar o algoritmo genético. A heurística HSSI tenta resolver problemas de empacotamento simulando, o comportamento da maioria das pessoas ao fazer este processo na vida real, contudo, tem um campo de busca reduzido entre as soluções possíveis e será então utilizado um algoritmo genético para ampliar este campo de busca e explorar novas soluções. No final pretende-se obter um software onde será possível configurar um dado problema de empacotamento de um contentor e obter, a solução do mesmo através do algoritmo genético. Assim sendo, o estudo realizado tem como principal objetivo contribuir com pesquisas e conclusões, sobre este problema e trazer uma nova proposta de solução para o problema de empacotamento de contentores.

A new MDA-SOA based framework for intercloud interoperability

Cloud computing has been one of the most important topics in Information Technology which aims to assure scalable and reliable on-demand services over the Internet. The expansion of the application scope of cloud services would require cooperation between clouds from different providers that have heterogeneous functionalities. This collaboration between different cloud vendors can provide better Quality of Services (QoS) at the lower price. However, current cloud systems have been developed without concerns of seamless cloud interconnection, and actually they do not support intercloud interoperability to enable collaboration between cloud service providers. Hence, the PhD work is motivated to address interoperability issue between cloud providers as a challenging research objective. This thesis proposes a new framework which supports inter-cloud interoperability in a heterogeneous computing resource cloud environment with the goal of dispatching the workload to the most effective clouds available at runtime. Analysing different methodologies that have been applied to resolve various problem scenarios related to interoperability lead us to exploit Model Driven Architecture (MDA) and Service Oriented Architecture (SOA) methods as appropriate approaches for our inter-cloud framework. Moreover, since distributing the operations in a cloud-based environment is a nondeterministic polynomial time (NP-complete) problem, a Genetic Algorithm (GA) based job scheduler proposed as a part of interoperability framework, offering workload migration with the best performance at the least cost. A new Agent Based Simulation (ABS) approach is proposed to model the inter-cloud environment with three types of agents: Cloud Subscriber agent, Cloud Provider agent, and Job agent. The ABS model is proposed to evaluate the proposed framework.

Genetic algorithms for the non emergency patients transport service

The authors would like to thank the anonymous reviewers for their valuable comments and suggestions to improve the paper. The authors would like to thank Dr. Elaine DeBock for reviewing the manuscript.

Combining data mining and evolutionary computation for multi-criteria optimization of earthworks

Earthworks tasks aim at levelling the ground surface at a target construction area and precede any kind of structural construction (e.g., road and railway construction). It is comprised of sequential tasks, such as excavation, transportation, spreading and compaction, and it is strongly based on heavy mechanical equipment and repetitive processes. Under this context, it is essential to optimize the usage of all available resources under two key criteria: the costs and duration of earthwork projects. In this paper, we present an integrated system that uses two artificial intelligence based techniques: data mining and evolutionary multi-objective optimization. The former is used to build data-driven models capable of providing realistic estimates of resource productivity, while the latter is used to optimize resource allocation considering the two main earthwork objectives (duration and cost). Experiments held using real-world data, from a construction site, have shown that the proposed system is competitive when compared with current manual earthwork design.

Retroanálise de parâmetros geomecânicos baseada em algoritmos de otimização

Dissertação de mestrado integrado em Engenharia Civil