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1 - Robot Path Planning Using Cellular Automata and Genetic Algorithm
Zeynab Sedreh Mehdi SadeghzadehIn path planning Problems, a complete description of robot geometry, environments and obstacle are presented; the main goal is routing, moving from source to destination, without dealing with obstacles. Also, the existing route should be optimal. The definition of optim أکثرIn path planning Problems, a complete description of robot geometry, environments and obstacle are presented; the main goal is routing, moving from source to destination, without dealing with obstacles. Also, the existing route should be optimal. The definition of optimality in routing is the same as minimizing the route, in other words, the best possible route to reach the destination. In most of the routing methods, the environment is known, although, in reality, environments are unpredictable;But with the help of simple methods and simple changes in the overall program, one can see a good view of the route and obstacles ahead. In this research, a method for solving robot routing problem using cellular automata and genetic algorithm is presented.In this method, the working space model and the objective function calculation are defined by cellular automata, and the generation of initial responses and acceptable responses is done using the genetic algorithm.During the experiments and the comparison we made, we found that the proposed algorithm yielded a path of 28.48 if the lengths of the paths obtained in an environment similar to the other algorithm of 15 / 32, 29.5 and 29.49, which is more than the proposed method. تفاصيل المقالة -
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2 - Trajectory Path Planning of Cable Driven Parallel Manipulators, Considering Masses and Flexibility of the Cables
Sobhan Sohrabi H. R. Mohammadi Daniali A. R. FathiCable driven parallel manipulator (CDPM) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. It is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manip أکثرCable driven parallel manipulator (CDPM) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. It is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span CDPM. These terms complicate governing equation of motion in a way that special tactic are applied for simulation and solving this problem. Flexibility and mass of cables impose vibration and error in path trajectory planning. Effect of varying stiffness in precise performance of CDPM is surveyed. The cables are modelled, in ADAMS software to illustrate the dynamical behaviours of the manipulator for comparison with the simulated results. Moreover, an algorithm is developed to study the effects of velocity and acceleration of the end-effector on the dynamics of CDPMs. Moreover it is shown that the evolutionary computing algorithms are so effective in solving complicated nonlinear dynamic path trajectory planning. Simulations for different trajectories of two CDPMs are included to demonstrate the efficiency of the proposed algorithm. تفاصيل المقالة -
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3 - Effective strategies for the establishment of integration model for succession planning and career progression path of iranian azad universities administrators (Qualitative Research Based Grounded Theory Approach)
Ali Raeespoor Siros Tadbiri Alireza Afshar Nejad• AbstractThis research was done to provide effective strategies for the establishment of integration model for succession planning and career progression path of azad universities administrators from the perspective of higher education administrators and professio أکثر• AbstractThis research was done to provide effective strategies for the establishment of integration model for succession planning and career progression path of azad universities administrators from the perspective of higher education administrators and professionals based on the systematic theoretical design of Strauss and Corbin grounded theory. Accordingly, using a targeted sampling method, semi-structured interviews were made with 22 middle and executive managers of universities, authors in the field of succession planning and career progression path, and key scholars on human resource management and higher education, and the data were extracted from the interviews.The approach used in this study is a mix approach and hence, for developing the comprehensive research model, qualitative and quantitative approaches (in combination with one another) were used.. For selecting sample volume, snow ball method was used and finally, the research model was developed based on the opinions of 22 experts. In the second stage, the presented research model was tested by using SPSS 20, Lisrel8.8 and results indicated that the relationships and components of the proposed model are significant. During a three-step coding process (open, axial and selective), the data analysis revealed seven main categories as the effective strategies for the establishment of integration model for succession planning and career progression path of governmental universities administrators, which included acquaintance, participation of university administrators, organizational learning, trust-making, futurism, academic independence and systemic insight تفاصيل المقالة -
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4 - بکار گیری الگوریتم های تکاملی به منظور بررسی طراحی مسیر بهینه ربات پایه موبایل (با رویکرد مقایسه‌ای در محیط‌های مختلف )
ساناز محمدیتحقیق در زمینه طراحی مسیر بهینه ربات های موبایل، یکی از مهمترین موضوعات در زمینه ربات های موبایل می باشد. الگوریتم جستجوی گرانشی به منظور طراحی مسیر بهینه ربات موبایل در محیط های معین و محیط های نسبتا معین یا نامعین باموانع (استاتیک یا دینامیک)، مطرح شده است. الگوریتمی أکثرتحقیق در زمینه طراحی مسیر بهینه ربات های موبایل، یکی از مهمترین موضوعات در زمینه ربات های موبایل می باشد. الگوریتم جستجوی گرانشی به منظور طراحی مسیر بهینه ربات موبایل در محیط های معین و محیط های نسبتا معین یا نامعین باموانع (استاتیک یا دینامیک)، مطرح شده است. الگوریتمی طراحی می شود که طبق آن مسیری بهینه از نقطه شروع تا نقطه هدف به دست می آید که از هر گونه برخورد با موانع استاتیک یا دینامیک ، جلوگیری می شود. بررسی های انجام گرفته نشان دهنده ی کارایی مناسب الگوریتم از نظر سادگی در اجرا در فرآیندهای زمان بر و نتایج حاصل از بررسی زمان و طول مسیر حرکت در محیط های دینامیک و استاتیک، حاکی از نقطه قوت این الگوریتم تکاملی نسبت به دیگر الگوریتم های تکاملی به خصوص در محیط های دینامیکی می باشد. بررسی ها حاکی از برتری کارایی الگوریتم جستجوی گرانشی نسبت به دیگر الگوریتم های تکاملی موجود (الگوریتم ازدحام ذرات) بوده است و این برتری، تاثیر بسزایی در روند طراحی مسیر محیط های استاتیک و دینامیک به خصوص در محیط های دینامیک، داشته است. تفاصيل المقالة -
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5 - Designing Path for Robot Arm Extensions Series with the Aim of Avoiding Obstruction with Recurring Neural Network
ramin khodaie محمد اسمعیل اکبریIn this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. أکثرIn this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and each of robot links and proper inequality equations have been derived which describe the qualification of obstacle avoidance. Moreover, nonlinear optimization problem with nonlinear constraint functions has been derived by considering the joint physical limits. In order to design the neural network, equivalent problem of projection theorem has been converted to quadratic programming by using Kuhn-Tucker 1optimality conditions. Based on the projection theorem, model of recurrent neural network has been determined which is as a first order differential equation. Simulation results show the good performance of the proposed method by applying the proposed algorithm on the seven-degree freedom PA-10 robot. تفاصيل المقالة -
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6 - Global Path Planning of Quadrotor Using Reinforcement Learning
Mehdi Khakbaz Majid AnjidaniThis paper aims to improve the trajectory by an extended reinforcement learning based method in which a new tracking algorithm is used for mobile robot applications with low-rate control command. There are some trajectories that underactuated robots, like quadrotors, ar أکثرThis paper aims to improve the trajectory by an extended reinforcement learning based method in which a new tracking algorithm is used for mobile robot applications with low-rate control command. There are some trajectories that underactuated robots, like quadrotors, are unable to track; hence a suitable trajectory should be designed with respect to the robot's dynamics. In this paper, the initial trajectory is generated by Rapidly-exploring Random Tree Star algorithm which is not suitable for quadrotor application. Then, the initial trajectory is improved by an extension of Path Integral Policy Improvement with Covariance Matrix Adaption (PI2-CMA) algorithm. The extension includes improving tracking algorithm and controller performance considering low-rate control command. Our proposed algorithm succeeded to reduce the cost of tracking by designing safer and shorter trajectories which are more suitable for real robots. Furthermore, the results show that the proposed tracking algorithm and controller improve the performance of tracking. The hardware requirements for implementing our proposed method are a webcam and a personal computer; therefore with a low-cost implementation of the proposed method, a suitable trajectory is designed. In this paper, the initial trajectory is improved by an extension of PI2-CMA algorithm in which the trajectory tracking is performed such that reciprocating motions are avoided. Also, desired velocity and acceleration are used by controller for better tracking. تفاصيل المقالة -
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7 - PSO-Based Path Planning Algorithm for Humanoid Robots Considering Safety
Roham Shakiba Mostafa E. SalehiIn this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, w أکثرIn this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated parameters. The random parameters are then iteratively fed into the PSO for optimization and converging to optimal path. Our proposed method makes a balance between the path shortness and the safety which makes it more efficient for humanoid soccer playing robots and also for any other crowded environment with various moving obstacles. Experimental results show that our proposed algorithm converges in at most 60 iterations with the average accuracy of 92% and the maximum path length overhead of 14% for planning the shortest and yet safest path. تفاصيل المقالة -
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8 - Study of Evolutionary and Swarm Intelligent Techniques for Soccer Robot Path Planning
Mostafa Salehi Elahe MansuryFinding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. Due to simplicity and smoothness of Ferguson Spline, it has been employed for path planning between arbitrary points أکثرFinding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. Due to simplicity and smoothness of Ferguson Spline, it has been employed for path planning between arbitrary points on the field in many research teams. In order to optimize the parameters of Ferguson Spline some evolutionary or intelligent algorithms are proposed in the literature. In this paper, we present a comparative study on different evolutionary and swarm algorithms as solutions to the problem of robot path planning. We optimize the parameters of Ferguson Spline and find the best path between two arbitrary points, studying Differential Evaluation (DE), Genetic Algorithm (GA), Evolutionary Strategies (ES), Artificial Bee Colony (ABC), and Particle Swarm optimization (PSO) algorithms. Firstly, a path for robot movement is describe by Ferguson splines and then these algorithms are used to optimize the parameters of splines to find an optimal path between the starting and the goal point considering the obstacles between them. The experimental results show the performance and effectiveness of the studied solutions in comparison with other swarm intelligent algorithms. تفاصيل المقالة -
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9 - A Hybrid Method for Industrial Robot Navigation
Somayeh RaiesdanaRobot navigation in dynamic unknown environments is a challenging issue in the field of autonomous mobile robot control. This paper presents a hybrid robust method for navigating an industrial robot in an environment that contains dynamic obstacles. The objectives are t أکثرRobot navigation in dynamic unknown environments is a challenging issue in the field of autonomous mobile robot control. This paper presents a hybrid robust method for navigating an industrial robot in an environment that contains dynamic obstacles. The objectives are to find the shortest path, to minimize the energy consumption of robot, to make the smoothness of the generated paths and to tackle dynamic obstacles. Robots employed in industrial environments demand considerable autonomy and require high level of accuracy and manoeuvrability at the same time. Besides, no collision is tolerable along the way. A single-objective optimization method based on path criteria fails to satisfy all of the requirements. This paper proposes a hybrid algorithm including the whale optimization algorithm (WOA) for path planning, a learnable function approximation network for making smoothness of the generated paths and a fuzzy logic controller to avoid obstacle collision. In this algorithm, WOA optimizes the best path to be taken from the start to goal position. Once a sequence of points is candidate and segments of path are merged, a radial basis function is trained to provide a smooth movement path in the dynamic environment while trying to maximize the safety margin. To further improve the safety of navigation, a fuzzy-based obstacle avoidance algorithm is executed when the robot is placed in the vicinity of an obstacle. Fuzzy decisions are made based on values of distance information. The proposed hybrid method for path planning and obstacle avoidance issues was implemented and evaluated in dynamic environments including specific shaped obstacles. A GUI-based simulation platform was designed in Matlab environment for testing the proposed algorithm. Implementation results indicate that the proposed algorithm has yielded in smooth non-marginal goal-directed navigation with acceptable performance metrics. Meanwhile, collisions to dynamic obstacles were adaptively and non-rigidly avoided. Such a model-free hybrid algorithm for path planning and obstacle avoidance can improve autonomy in industrial operation and decrease computational complexity. تفاصيل المقالة -
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10 - Path Planning and Control of an Industrial Robot Used for Opening Tap Hole of an Electric Arc Furnace
Mohammad Esmaili Mohammad SaadatThe electric arc furnace (EAF) is one of the popular methods of steel production from steel scraps. The plasma arc is used in EAF to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal is drained from the EAF through the tap hole. Nowadays, it أکثرThe electric arc furnace (EAF) is one of the popular methods of steel production from steel scraps. The plasma arc is used in EAF to generate heat for melting scarp or direct reduced iron (DRI). The liquid metal is drained from the EAF through the tap hole. Nowadays, it is critical to use Automated/robotic tools for opening the tap hole with oxygen lancing. Because many workers have been blinded by spraying molten particles in opening operation. This study was aimed to simulate a robot manipulator with five degrees of freedom designed for opening the tap hole of an electrical arc furnace. The geometrical model of the robot was designed in Solid works software according to the real workplace and its expected path and obstacles. The Newton-Euler approach was employed to derive the dynamic equations and the resultant joint torques. The dynamic model is used to obtain the operating torques of the joints as well as in the simulation using the SimMechanic toolbox in Matlab software. The results of the simulation with SimMechanic show that the control system can follow the desired path of the robot with acceptable accuracy. تفاصيل المقالة -
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11 - طراحی مسیر ربات‌های متحرک با ترکیب روش میدان پتانسیل مصنوعی و الگوریتم فراابتکاری شاهین
حسین سعیدی مسینه محمد سعادتطراحی مسیر ربات‌های متحرک یکی از مسائل مهم در حوزه رباتیک است. همچنین امروزه بهینه سازی طول مسیر حرکت و عبور از تله‌های حداقل محلی یکی از مشکلات اساسی و به روز در ربات‌های متحرک است. یکی از روش‌های مهم در طراحی مسیر این گونه ربات‌ها، روش میدان پتانسیل مصنوعی است زیرا م أکثرطراحی مسیر ربات‌های متحرک یکی از مسائل مهم در حوزه رباتیک است. همچنین امروزه بهینه سازی طول مسیر حرکت و عبور از تله‌های حداقل محلی یکی از مشکلات اساسی و به روز در ربات‌های متحرک است. یکی از روش‌های مهم در طراحی مسیر این گونه ربات‌ها، روش میدان پتانسیل مصنوعی است زیرا مبتنی بر محاسبات ساده ریاضی است. از مهمترین معایب این روش می‌توان به گیرکردن در تله‌های حداقل محلی اشاره نمود. یک رویکرد برای رفع مشکل حداقل‌های محلی، استفاده از روش های بهینه سازی برای یافتن ضرایب مناسب جذب، دفع و طول گام است که بتواند هم از حداقل های محلی عبور کند و هم طول مسیر را نیز در بهینه سازی لحاظ نماید. الگوریتم شاهین یک الگوریتم فراابتکاری قوی و جدید در حوزه بهینه‌سازی است که مبتنی بر جمعیت و الهام گرفته شده از زندگی شاهین‌ها در طبیعت است. این الگوریتم توانسته است برتری خود را بر روش های بهینه سازی مشابه در یافتن جواب بهینه، همگرایی سریعتر، زمان حل کمتر و دوری از حداقل های محلی اثبات نماید. از آن جایی که این روش تاکنون در طراحی مسیر ربات های متحرک مورد استفاه قرار نگرفته است، در این مقاله به منظور رفع معایب روش میدان پتانسیل مصنوعی و هم چنین بهینه‌سازی طول مسیر، بازده مسیریابی و زمان همگرایی از الگوریتم شاهین استفاده شده است. نتایج شبیه‌سازی حاکی از رفع معایب روش میدان پتانسیل مصنوعی و بهینه‌شدن طول مسیر حرکت، افزایش بازده مسیریابی و کاهش زمان همگرایی است. تفاصيل المقالة -
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12 - یک روش جدید ترکیبی در مسیریابی سراسری وسایل نقلیة خودگردان زیرآبی
شبنم پسته احمدرضا نقش نیلچی فرید شیخالاسلامتاکنون روش‌های سراسری متعددی برای حل مسئله طراحی مسیر پیشنهاد شده است که از آن میان روش‌های گراف پدیداری، دیاگرام ورونویی، درخت چهاروجهی و جبهه موج جایگاه ویژه‌ای دارند. در این مقاله با ترکیب این چهار روش در یک ساختار واحد، یک الگوریتم طراحی مسیر جدید به نام (HYBRID-VQV أکثرتاکنون روش‌های سراسری متعددی برای حل مسئله طراحی مسیر پیشنهاد شده است که از آن میان روش‌های گراف پدیداری، دیاگرام ورونویی، درخت چهاروجهی و جبهه موج جایگاه ویژه‌ای دارند. در این مقاله با ترکیب این چهار روش در یک ساختار واحد، یک الگوریتم طراحی مسیر جدید به نام (HYBRID-VQVW) HYBRID-Visibility-QuadTree-Voronoi-WaveFront ارائه می‌شود. در این روش در هر فاصلة نمونه‌برداری پس از ساخت چهار مسیر سراسری روی فضای پیکربندی، بهترین آن‌ها طبق چند ملاک رفتاری مشخص می‌شود. این ملاک‌ها شامل طول، امنیت و همواری مسیر می‌باشند. در حقیقت الگوریتم HYBRID-VQVW یک مبادلة پارامتری میان کوتاه‌ترین، امن‌ترین و هموارترین مسیر برقرار می‌کند و در نهایت به مسیری می‌رسیم که از مسیر تولید شده با روش‌های دیاگرام ورونویی، درخت چهاروجهی و جبهة موج کوتاهتر و هموارتر بوده و نسبت به مسیر گراف پدیداری امن‌تر است. تفاصيل المقالة -
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13 - Path Planning of a 3 DOF Servo-Hydraulic Mechanism Using Genetic Algorithm
فرشید آقاداوودی شهرام لنجان نژادیانThe objective of this paper is path planning of a 3 DOF planer robot with hydraulic actuator using genetic algorithm. First the geometric and kinematic parameters of robot were established. The equations of motion are derived by Lagrange method. We proposed the model fo أکثرThe objective of this paper is path planning of a 3 DOF planer robot with hydraulic actuator using genetic algorithm. First the geometric and kinematic parameters of robot were established. The equations of motion are derived by Lagrange method. We proposed the model for proportional valve and hydraulic actuators. Then using the genetic algorithm we minimized the hydraulic energy consumption as a fitness function during the mechanism motion between two specified points. تفاصيل المقالة
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