Optimal pose selection for the calibration of an overconstrained Cable-Driven Parallel Robot

In this project an optimal pose selection method for the calibration of an overconstrained Cable-Driven Parallel robot is presented. This manipulator belongs to a subcategory of parallel robots, where the classic rigid "legs" are replaced by cables. Cables are flexible elements that bring advantages and disadvantages to the robot modeling. For this reason, there are many open research issues, and the calibration of geometric parameters is one of them. The identification of the geometry of a robot, in particular, is usually called Kinematic Calibration. Many methods have been proposed in the past years for the solution of the latter problem. Although these methods are based on calibration using different kinematic models, when the robot’s geometry becomes more complex, their robustness and reliability decrease. This fact makes the selection of the calibration poses more complicated. The position and the orientation of the endeffector in the workspace become important in terms of selection. Thus, in general, it is necessary to evaluate the robustness of the chosen calibration method, by means, for example, of a parameter such as the observability index. In fact, it is known from the theory, that the maximization of the above mentioned index identifies the best choice of calibration poses, and consequently, using this pose set may improve the calibration process. The objective of this thesis is to analyze optimization algorithms which aim to calculate an optimal choice of poses both in quantitative and qualitative terms. Quantitatively, because it is of fundamental importance to understand how many poses are needed. Not necessarily a greater number of poses leads to a better result. Qualitatively, because it is useful to understand if the selected combination of poses actually gives additional information in the process of the identification of the parameters.

Genetic algorithms for continuous optimization problems - a concept of parameter-space size adjustment

The concept of parameter-space size adjustment is pn,posed in order to enable successful application of genetic algorithms to continuous optimization problems. Performance of genetic algorithms with six different combinations of selection and reproduction mechanisms, with and without parameter-space size adjustment, were severely tested on eleven multiminima test functions. An algorithm with the best performance was employed for the determination of the model parameters of the optical constants of Pt, Ni and Cr.

Time-domain optimization of amplifiers based on distributed genetic algorithms

Thesis presented in partial fulfillment of the requirements for the degree of Doctor of Philosophy in the subject of Electrical and Computer Engineering

Optimización en el cómputos de algoritmos de cuadratura para funciones especiales. Optimization of quadrature algorithms for special functions.

En nuestro proyecto anterior aproximamos el cálculo de una integral definida con integrandos de grandes variaciones funcionales. Nuestra aproximación paraleliza el algoritmo de cómputo de un método adaptivo de cuadratura, basado en reglas de Newton-Cote. Los primeros resultados obtenidos fueron comunicados en distintos congresos nacionales e internacionales; ellos nos permintieron comenzar con una tipificación de las reglas de cuadratura existentes y una clasificación de algunas funciones utilizadas como funciones de prueba. Estas tareas de clasificación y tipificación no las hemos finalizado, por lo que pretendemos darle continuidad a fin de poder informar sobre la conveniencia o no de utilizar nuestra técnica. Para llevar adelante esta tarea se buscará una base de funciones de prueba y se ampliará el espectro de reglas de cuadraturas a utilizar. Además, nos proponemos re-estructurar el cálculo de algunas rutinas que intervienen en el cómputo de la mínima energía de una molécula. Este programa ya existe en su versión secuencial y está modelizado utilizando la aproximación LCAO. El mismo obtiene resultados exitosos en cuanto a precisión, comparado con otras publicaciones internacionales similares, pero requiere de un tiempo de cálculo significativamente alto. Nuestra propuesta es paralelizar el algoritmo mencionado abordándolo al menos en dos niveles: 1- decidir si conviene distribuir el cálculo de una integral entre varios procesadores o si será mejor distribuir distintas integrales entre diferentes procesadores. Debemos recordar que en los entornos de arquitecturas paralelas basadas en redes (típicamente redes de área local, LAN) el tiempo que ocupa el envío de mensajes entre los procesadores es muy significativo medido en cantidad de operaciones de cálculo que un procesador puede completar. 2- de ser necesario, paralelizar el cálculo de integrales dobles y/o triples. Para el desarrollo de nuestra propuesta se desarrollarán heurísticas para verificar y construir modelos en los casos mencionados tendientes a mejorar las rutinas de cálculo ya conocidas. A la vez que se testearán los algoritmos con casos de prueba. La metodología a utilizar es la habitual en Cálculo Numérico. Con cada propuesta se requiere: a) Implementar un algoritmo de cálculo tratando de lograr versiones superadoras de las ya existentes. b) Realizar los ejercicios de comparación con las rutinas existentes para confirmar o desechar una mejor perfomance numérica. c) Realizar estudios teóricos de error vinculados al método y a la implementación. Se conformó un equipo interdisciplinario integrado por investigadores tanto de Ciencias de la Computación como de Matemática. Metas a alcanzar Se espera obtener una caracterización de las reglas de cuadratura según su efectividad, con funciones de comportamiento oscilatorio y con decaimiento exponencial, y desarrollar implementaciones computacionales adecuadas, optimizadas y basadas en arquitecturas paralelas.

A cost optimization-based design of precast concrete floors using genetic algorithms

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

A comparison about evolutionary algorithms for optimum-path forest clustering optimization

In this paper we deal with the problem of boosting the Optimum-Path Forest (OPF) clustering approach using evolutionary-based optimization techniques. As the OPF classifier performs an exhaustive search to find out the size of sample's neighborhood that allows it to reach the minimum graph cut as a quality measure, we compared several optimization techniques that can obtain close graph cut values to the ones obtained by brute force. Experiments in two public datasets in the context of unsupervised network intrusion detection have showed the evolutionary optimization techniques can find suitable values for the neighborhood faster than the exhaustive search. Additionally, we have showed that it is not necessary to employ many agents for such task, since the neighborhood size is defined by discrete values, with constrain the set of possible solution to a few ones.

Cash balance management: A comparison between genetic algorithms and particle swarm optimization

This work aimed to apply genetic algorithms (GA) and particle swarm optimization (PSO) in cash balance management using Miller-Orr model, which consists in a stochastic model that does not define a single ideal point for cash balance, but an oscillation range between a lower bound, an ideal balance and an upper bound. Thus, this paper proposes the application of GA and PSO to minimize the Total Cost of cash maintenance, obtaining the parameter of the lower bound of the Miller-Orr model, using for this the assumptions presented in literature. Computational experiments were applied in the development and validation of the models. The results indicated that both the GA and PSO are applicable in determining the cash level from the lower limit, with best results of PSO model, which had not yet been applied in this type of problem.

Optimization of thin noise barrier designs using Evolutionary Algorithms and a Dual BEM Formulation

[EN]This works aims at assessing the acoustic efficiency of differente this noise barrier models. These designs frequently feature complex profiles and their implementarion in shape optimization processes may not always be easy in terms of determining their topological feasibility. A methodology to conduct both overall shape and top edge optimisations of thin cross section acoustic barriers by idealizing them as profiles with null boundary thickness is proposed.

Application of evolutionary algorithms and the boundary element method in the optimization of noise barrier profiles

[EN]This Ph.D. thesis presents a general, robust methodology that may cover any type of 2D acoustic optimization problem. A procedure involving the coupling of Boundary Elements (BE) and Evolutionary Algorithms is proposed for systematic geometric modifications of road barriers that lead to designs with ever-increasing screening performance. Numerical simulations involving single- and multi-objective optimizations of noise barriers of varied nature are included in this document. results disclosed justify the implementation of this methodology by leading to optimal solutions of previously defined topologies that, in general, greatly outperform the acoustic efficiency of classical, widely used barrier designs normally erected near roads.

Algorithms and Models For Combinatorial Optimization Problems

In this thesis we present some combinatorial optimization problems, suggest models and algorithms for their effective solution. For each problem,we give its description, followed by a short literature review, provide methods to solve it and, finally, present computational results and comparisons with previous works to show the effectiveness of the proposed approaches. The considered problems are: the Generalized Traveling Salesman Problem (GTSP), the Bin Packing Problem with Conflicts(BPPC) and the Fair Layout Problem (FLOP).

Many-core Algorithms for Combinatorial Optimization

Combinatorial Optimization is becoming ever more crucial, in these days. From natural sciences to economics, passing through urban centers administration and personnel management, methodologies and algorithms with a strong theoretical background and a consolidated real-word effectiveness is more and more requested, in order to find, quickly, good solutions to complex strategical problems. Resource optimization is, nowadays, a fundamental ground for building the basements of successful projects. From the theoretical point of view, Combinatorial Optimization rests on stable and strong foundations, that allow researchers to face ever more challenging problems. However, from the application point of view, it seems that the rate of theoretical developments cannot cope with that enjoyed by modern hardware technologies, especially with reference to the one of processors industry. In this work we propose new parallel algorithms, designed for exploiting the new parallel architectures available on the market. We found that, exposing the inherent parallelism of some resolution techniques (like Dynamic Programming), the computational benefits are remarkable, lowering the execution times by more than an order of magnitude, and allowing to address instances with dimensions not possible before. We approached four Combinatorial Optimization’s notable problems: Packing Problem, Vehicle Routing Problem, Single Source Shortest Path Problem and a Network Design problem. For each of these problems we propose a collection of effective parallel solution algorithms, either for solving the full problem (Guillotine Cuts and SSSPP) or for enhancing a fundamental part of the solution method (VRP and ND). We endorse our claim by presenting computational results for all problems, either on standard benchmarks from the literature or, when possible, on data from real-world applications, where speed-ups of one order of magnitude are usually attained, not uncommonly scaling up to 40 X factors.