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Optimal point to point path planning of flexible manipulator under large deformation by using harmony search method

Esfandiar H., Korayem M. H.

Journal of Theoretical and Applied Mechanics

2016

Vol. 54 nr 1

179--193

This paper aims at planning an optimal point to point path for a flexible manipulator under large deformation. For this purpose, the researchers use a direct method and meta-heuristic optimization process. In this paper, the maximum load carried by the manipulator and the minimum transmission time are taken as objective functions of the optimization process to get optimal path profiles. Kinematic constraints, the maximum velocity and acceleration, the dynamic constraint of the maximum torque applied to the arms and also the constraint of final point accuracy are discussed. For the optimization process, the Harmony Search (HS) method is used. To evaluate the effectiveness of the approach proposed, simulation studies are reviewed by considering a two-link flexible manipulator with the fixed base. The findings indicate that the proposed method is in power of dealing with nonlinear dynamics of the system. Furthermore, the results obtained by rigid, small and large deformation models are compared with each other.

Under Voltage Load Shedding Scheme Using Meta-heuristic Optimization Methods

Verayiah R., Mohamed A., Shareef H., Abidin I. Z.

Przegląd Elektrotechniczny

2014

R. 90, nr 11

162--168

Load shedding has been extensively studied because of multiple power system failure occurrences worldwide. Reliable techniques are required to provide rapid and precise load shedding to avert voltage collapse in power networks. Meta-heuristic optimization approaches are currently the widely developed methods because of their robustness and flexibility in dealing with complex and non-linear systems. These methods include genetic algorithm, fuzzy logic control, particle swarm optimization, artificial neural network, ant colony optimization, big-bang big-crunch optimization, and many others. This study provides an overview of all the meta-heuristic methods implemented for under voltage load shedding in power systems.

Pozbywanie się obciążenia jest istotne z punktu widzenia możliwego zapadu systemu przesyłu energii. Do tego celu wykorzystuje się optymalizację meta-heurystyczną głównie dzięki odporności i szerokim możliwościom. W skład metody wchodzą: algorytm genetyczny, logika rozmyta, algorytmy mrówkowe, sieci neuronowe. W artykule dokonano przeglądu tych metod.