Optimal design of nonlinear model predictive controller based on new modified multitracker optimization algorithm

The controller design for the robotic manipulator faces different challenges such as the system's nonlinearities and the uncertainties of the parameters. Furthermore, the tracking of different linear and nonlinear trajectories represents a vital role by the manipulator. This paper suggests an optimal design for the nonlinear model predictive control (NLMPC) based on a new improved intelligent technique and it is named modified multitracker optimization algorithm (MMTOA). The proposed modification of the MTOA is carried out based on opposition-based learning (OBL) and quasi OBL approaches. This modification improves the exploration behavior of the MTOA to prevent it from becoming trapped in a local optimum. The proposed method is applied on the robotic manipulator to track different linear and nonlinear trajectories. The NLMPC parameters are tuned by the MMTOA rather than the trial and error method of the designer. The proposed NLMPC based on MMTOA is compared with the original MTOA, genetic algorithm, and cuckoo search algorithm in literature. The superiority and effectiveness of the proposed controller are confirmed to track different linear and nonlinear trajectories. Furthermore, the robustness of the proposed method is emphasized against the uncertainties of the parameters.     

基于学科竞赛的中医药类院校程序设计课程教学模式的探索

高素质人才培养是我国可持续发展战略、科教兴国战略以及人才强国战略等多项发展战略的一项基础性工程。本文针对中医药类院校程序设计类课程实践教学模式单一等教学实际，以“学科竞赛”为平台，“赛教结合”为理念，以《C语言程序设计》为例，从现存问题、赛教结合模式的引入、建立实施及其评价机制4个方面展开阐述，旨在提高学生学习积极性和能力。     

基于Stateflow电力机车变流器控制设计与实现

某出口型号交流电力机车牵引控制系统要求变流器控制逻辑具备接触器控制、牵引系统数据交互、变流器故障保护、变流器启动自检等功能。针对以上功能,基于MATLAB中的Simulink/Stateflow可视化编程工具进行牵引控制模型的搭建,遵循模块化编程理念,采用较少的程序代码编写实现复杂的逻辑控制模型,生成逻辑清晰的控制功能流程图,进行半实物仿真测试,增强控制模型的可靠性。通过该变流器产品型式试验检验,验证变流器控制逻辑的功能可以满足控制系统的需求。     

Exactly satisfying initial conditions neural network models for numerical treatment of first Painlevé equation

In this paper, novel computing approach using three different models of feed-forward artificial neural networks (ANNs) are presented for the solution of initial value problem (IVP) based on first Painlevé equation. These mathematical models of ANNs are developed in an unsupervised manner with capability to satisfy the initial conditions exactly using log-sigmoid, radial basis and tan-sigmoid transfer functions in hidden layers to approximate the solution of the problem. The training of design parameters in each model is performed with sequential quadratic programming technique. The accuracy, convergence and effectiveness of the proposed schemes are evaluated on the basis of the results of statistical analyses through sufficient large number of independent runs with different number of neurons in each model as well. The comparisons of these results of proposed schemes with standard numerical and analytical solutions validate the correctness of the design models.     

Weighted Superposition Attraction (WSA): A swarm intelligence algorithm for optimization problems – Part 2: Constrained optimization

This paper is the second one of the two papers entitled “Weighted Superposition Attraction (WSA) Algorithm”, which is about the performance evaluation of the WSA algorithm in solving the constrained global optimization problems. For this purpose, the well-known mechanical design optimization problems, design of a tension/compression coil spring, design of a pressure vessel, design of a welded beam and design of a speed reducer, are selected as test problems. Since all these problems were formulated as constrained global optimization problems, WSA algorithm requires a constraint handling method for tackling them. For this purpose we have selected 6 formerly developed constraint handling methods for adapting into WSA algorithm and analyze the effect of the used constraint handling method on the performance of the WSA algorithm. In other words, we have the aim of producing concluding remarks over the performance and robustness of the WSA algorithm through a set of computational study in solving the constrained global optimization problems. Computational study indicates the robustness and the effectiveness of the WSA in terms of obtained results, reached level of convergence and the capability of coping with the problems of premature convergence, trapping in a local optima and stagnation.     

Comparative evaluation of different statistical tools for the prediction of uniaxial compressive strength of rocks

In this study, uniaxial compressive strength (UCS), unit weight (UW), Brazilian tensile strength (BTS), Schmidt hardness (SHH), Shore hardness (SSH), point load index (Is₅₀) and P-wave velocity (V_p) properties were determined. To predict the UCS, simple regression (SRA), multiple regression (MRA), artificial neural network (ANN), adaptive neuro-fuzzy inference system (ANFIS) and genetic expression programming (GEP) have been utilized. The obtained UCS values were compared with the actual UCS values with the help of various graphs. Datasets were modeled using different methods and compared with each other. In the study where the performance indice PI_at was used to determine the best performing method, MRA method is the most successful method with a small difference. It is concluded that the mean PI_at equal to 2.46 for testing dataset suggests the superiority of the MRA, while these values are 2.44, 2.33, and 2.22 for GEP, ANFIS, and ANN techniques, respectively. The results pointed out that the MRA can be used for predicting UCS of rocks with higher capacity in comparison with others. According to the performance index assessment, the weakest model among the nine model is P7, while the most successful models are P2, P9, and P8, respectively.     

A stiffness parameter and truncation error criterion for adaptive path following in structural mechanics

We explore a truncation error criterion to steer adaptive step length refinement and coarsening in incremental-iterative path following procedures, applied to problems in large-deformation structural mechanics. Elaborating on ideas proposed by Bergan and collaborators in the 1970s, we first describe an easily computable scalar stiffness parameter whose sign and rate of change provide reliable information on the local behavior and complexity of the equilibrium path. We then derive a simple scaling law that adaptively adjusts the length of the next step based on the rate of change of the stiffness parameter at previous points on the path. We show that this scaling is equivalent to keeping a local truncation error constant in each step. We demonstrate with numerical examples that our adaptive method follows a path with a significantly reduced number of points compared to an analysis with uniform step length of the same fidelity level. A comparison with Abaqus illustrates that the truncation error criterion effectively concentrates points around the smallest-scale features of the path, which is generally not possible with automatic incrementation solely based on local convergence properties.     

A practical assessment of risk-averse approaches in production lot-sizing problems

ABSTRACT

This paper presents an empirical assessment of four state-of-the-art risk-averse approaches to deal with the capacitated lot-sizing problem under stochastic demand. We analyse two mean-risk models based on the semideviation and on the conditional value-at-risk risk measures, and alternate first and second-order stochastic dominance approaches. The extensive computational experiments based on different instances characteristics and on a case-study suggest that CVaR exhibits a good trade-off between risk and performance, followed by the semideviation and first-order stochastic dominance approach. For all approaches, enforcing risk-aversion helps to reduce the cost-standard deviation substantially, which is usually accomplished via increasing production rates. Overall, we can say that very risk-averse decision-makers would be willing to pay an increased price to have a much less risky solution given by CVaR. In less risk-averse settings, though, semideviation and first-order stochastic dominance can be appealing alternatives to provide significantly more stable production planning costs with a marginal increase of the expected costs.     

A hybrid multiple feature construction approach for classification using Genetic Programming

The purpose of feature construction is to create new higher-level features from original ones. Genetic Programming (GP) was usually employed to perform feature construction tasks due to its flexible representation. Filter-based approach and wrapper-based approach are two commonly used feature construction approaches according to their different evaluation functions. In this paper, we propose a hybrid feature construction approach using genetic programming (Hybrid-GPFC) that combines filter’s fitness function and wrapper’s fitness function, and propose a multiple feature construction method that stores top excellent individuals during a single GP run. Experiments on ten datasets show that our proposed multiple feature construction method (Fcm) can achieve better (or equivalent) classification performance than the single feature construction method (Fcs), and our Hybrid-GPFC can obtain better classification performance than filter-based feature construction approaches (Filter-GPFC) and wrapper-based feature construction approaches (Wrapper-GPFC) in most cases. Further investigations on combinations of constructed features and original features show that constructed features augmented with original features do not improve the classification performance comparing with constructed features only. The comparisons with three state-of-art methods show that in majority of cases, our proposed hybrid multiple feature construction approach can achieve better classification performance.