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This paper presents the development of a wrist rehabilitation system with a novel approach for structural design, based on the modeling of an optimization problem solved by a metaheuristic algorithm, Improved Harmony Search (ImHS). It is part of a project for developing low-cost rehabilitation systems expressly designed for the population of Latin American countries. A mixed optimization problem is modeled for the design, where the material type is associated with an integer variable and the dimensions of the components are continuous parameters. The novelty is that each element is calculated individually, but considering the combined effect over the structure. The optimization works simultaneously on both the material selection and the meeting of the associated constraints, to guarantee that the system will not fail because of any load, neither it will be unsafe for the patients, since the operation will always be within the limits considered in the modeling. ImHS is a variant of the Harmony Search algorithm, modified to enhance the exploration and exploitation processes. It is a simple yet powerful metaheuristic, implemented in this development with additional modifications to handle constraints and mixed variables. The proposed approach produced quality results, indicating that ImHS can be applied to solve complex engineering problems, facilitating the manufacture and control processes.
Eduardo Vega-Alvarado; Valentín Vázquez-Castillo; Edgar Portilla-Flores; Maria Calva-Yañez; Gabriel Sepúlveda-Cervantes. Design of a Wrist Rehabilitation System with a Novel Mixed Structural Optimization Applying Improved Harmony Search. Applied Sciences 2021, 11, 1766 .
AMA StyleEduardo Vega-Alvarado, Valentín Vázquez-Castillo, Edgar Portilla-Flores, Maria Calva-Yañez, Gabriel Sepúlveda-Cervantes. Design of a Wrist Rehabilitation System with a Novel Mixed Structural Optimization Applying Improved Harmony Search. Applied Sciences. 2021; 11 (4):1766.
Chicago/Turabian StyleEduardo Vega-Alvarado; Valentín Vázquez-Castillo; Edgar Portilla-Flores; Maria Calva-Yañez; Gabriel Sepúlveda-Cervantes. 2021. "Design of a Wrist Rehabilitation System with a Novel Mixed Structural Optimization Applying Improved Harmony Search." Applied Sciences 11, no. 4: 1766.
This paper introduces a Mechatronic Concurrent Design procedure to address multidisciplinary fields in Mechatronics. This approach takes into account multiple criteria and design variables from mainly mechanical aspects, control issues, and task-oriented features to formulate an optimization problem, which is solved using heuristic algorithms. An example is discussed to show the feasibility and characteristics of the procedure.
Cuauhtémoc Morales-Cruz; Marco Ceccarelli; Edgar Alfredo Portilla-Flores. Design Formulation for a Multi-criteria Optimization of Mechatronic Systems. Mechanical Engineering and Materials 2020, 849 -860.
AMA StyleCuauhtémoc Morales-Cruz, Marco Ceccarelli, Edgar Alfredo Portilla-Flores. Design Formulation for a Multi-criteria Optimization of Mechatronic Systems. Mechanical Engineering and Materials. 2020; ():849-860.
Chicago/Turabian StyleCuauhtémoc Morales-Cruz; Marco Ceccarelli; Edgar Alfredo Portilla-Flores. 2020. "Design Formulation for a Multi-criteria Optimization of Mechatronic Systems." Mechanical Engineering and Materials , no. : 849-860.
There are problems that are difficult to solve through mathematical programming or by classical methods. These problems are called hard problems due to their high complexity or high dimension. On the other hand, mataheuristics intends to seek a better solution to a problem. The Improvement Harmony Search algorithm is proposed under modification of the bandwidth parameter increasing the quality of the exploitation of the solutions. That is why within the state of the art, are mentioned several versions of harmonic search. The state of the art is supports the fact that the algorithm belongs to the category of those who make modifications to its parameters. This research demonstrates the ability of ImHS to solve a problem of high complexity focused on solving four-bar mechanism designs, whose solutions imply high dimension and which are also classified as hard problems. The two problems that are solved in this investigation, are problems very attacked within the state of the art by various metaheuristics. A comparison is then made against previous solutions with traditional metaheuristics and other versions of harmony search algorithm. Finally, the effectiveness of performance is demonstrated, where proposed algorithm it exceeded five metaheuristic algorithms and five harmony search versions. An optimum is provided in an easy and useful way, the parametric statistics are improved and the number of feasible solutions is exceeded in NP-hard problems as in the case of problems with four-bar mechanisms.
Leticia Flores-Pulido; Edgar Alfredo Portilla-Flores; Eric Santiago-Valentin; Eduardo Vega-Alvarado; Maria Barbara Calva Yanez; Paola Andrea Nino-Suarez. A Comparative Study of Improved Harmony Search Algorithm in Four Bar Mechanisms. IEEE Access 2020, 8, 148757 -148778.
AMA StyleLeticia Flores-Pulido, Edgar Alfredo Portilla-Flores, Eric Santiago-Valentin, Eduardo Vega-Alvarado, Maria Barbara Calva Yanez, Paola Andrea Nino-Suarez. A Comparative Study of Improved Harmony Search Algorithm in Four Bar Mechanisms. IEEE Access. 2020; 8 (99):148757-148778.
Chicago/Turabian StyleLeticia Flores-Pulido; Edgar Alfredo Portilla-Flores; Eric Santiago-Valentin; Eduardo Vega-Alvarado; Maria Barbara Calva Yanez; Paola Andrea Nino-Suarez. 2020. "A Comparative Study of Improved Harmony Search Algorithm in Four Bar Mechanisms." IEEE Access 8, no. 99: 148757-148778.
This work presents a new methodology for designing input and output filters to be applied in a three-phase matrix converter, with an optimization problem solved by a metaheuristic algorithm. The algorithm determines the optimal values of the passive elements of the filters, taking as the fundamental performance criterion the response in magnitude. It is based on the resonant frequency, in order to eliminate the harmonics in the input currents and the output voltages produced by the bidirectional switching and disturbances in the power supply. These filters are implemented in a direct matrix converter using a Venturini-type modulation in open loop configuration. Other developments for this filter design have been carried out, but most of them were based on the conventional procedure of determining a random value for some element and then finding the magnitude of the remaining elements. That approach does not ensure the best dynamic filter response. The proposed design technique requires no initial elements, since all values are calculated by the metaheuristic algorithm.
Joel Muñoz-Castillo; Germán Ardul Muñoz-Hernández; Edgar Alfredo Portilla-Flores; Eduardo Vega-Alvarado; Maria Bárbara Calva-Yáñez; Gerardo Mino-Aguilar; Paola Andrea Niño-Suarez. Design of the Input and Output Filter for a Matrix Converter Using Evolutionary Techniques. Applied Sciences 2020, 10, 3524 .
AMA StyleJoel Muñoz-Castillo, Germán Ardul Muñoz-Hernández, Edgar Alfredo Portilla-Flores, Eduardo Vega-Alvarado, Maria Bárbara Calva-Yáñez, Gerardo Mino-Aguilar, Paola Andrea Niño-Suarez. Design of the Input and Output Filter for a Matrix Converter Using Evolutionary Techniques. Applied Sciences. 2020; 10 (10):3524.
Chicago/Turabian StyleJoel Muñoz-Castillo; Germán Ardul Muñoz-Hernández; Edgar Alfredo Portilla-Flores; Eduardo Vega-Alvarado; Maria Bárbara Calva-Yáñez; Gerardo Mino-Aguilar; Paola Andrea Niño-Suarez. 2020. "Design of the Input and Output Filter for a Matrix Converter Using Evolutionary Techniques." Applied Sciences 10, no. 10: 3524.
El aprendizaje automático de máquinas ha tomado fuerza en las últimas décadas debido al avance de la tecnología, logrando que sistemas relativamente pequeños realicen tareas tales como reconocimiento de personas, clasificación de imágenes, diagnósticos médicos hasta control de robots de manera autónoma. La principal limitación que tienen los sistemas de aprendizaje autónomo para robots reales es el tiempo de entrenamiento, ya que durante dicha fase el sistema está sujeto a condiciones físicas tales como la aceleración, la gravedad y las colisiones con el entorno, todas estas situaciones con tiempos de ocurrencia muy grandes comparados con los tiempos de cómputo. Por lo anterior, en este trabajo se presenta una opción para el ML utilizando ambientes virtuales donde la velocidad de interacción física puede alterarse ya que el comportamiento físico es calculado por el procesador de la computadora, logrando acelerar el proceso y reduciendo los tiempos necesarios para el entrenamiento.
Gabriel Sepúlvera Cervantes; Eduardo Vega-Alvarado; Edgar Alfredo Portilla-Floresa. Machine Learning para Robots, del Entrenamiento Virtual a la Tarea Real. Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI 2019, 7, 14 -18.
AMA StyleGabriel Sepúlvera Cervantes, Eduardo Vega-Alvarado, Edgar Alfredo Portilla-Floresa. Machine Learning para Robots, del Entrenamiento Virtual a la Tarea Real. Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI. 2019; 7 (Especial):14-18.
Chicago/Turabian StyleGabriel Sepúlvera Cervantes; Eduardo Vega-Alvarado; Edgar Alfredo Portilla-Floresa. 2019. "Machine Learning para Robots, del Entrenamiento Virtual a la Tarea Real." Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI 7, no. Especial: 14-18.
This article presents the development of a dynamic optimization method for controller tuning. This is proposed because most traditional tuning methods for complex coupled dynamic models are based on experience, and thus lacking accuracy. The case study is a Mobile Manipulator that consists of an anthropomorphic manipulator and a differential mobile platform. The system model has a trajectory generator that includes the coupled kinematic model, the Jacobian model, the coupled dynamic model, and a Proportional-Derivative plus controller. The tuning of the model is obtained by solving an optimization problem, using the Differential Evolution algorithm. This optimization approach allows to minimize simultaneously the energy consumption and the error on the trajectory tracking by the end effector. A novel strategy is applied to formulate the objective function, including constant weights for balancing the minimization effect. The objective is to avoid an energy consumption equal to zero that represents an error condition of no motion. The results of the case study and its statistical analysis are presented. The best result was modeled in Solidworks® and simulated in Matlab®. This model was exported to Simscape Multibody™ of Matlab, and its simulation produced satisfactory results, suggesting that the proposed optimization method can be a useful tool to solve real engineering problems.
Vladimir Prada-Jimenez; Paola Andrea Nino-Suarez; Edgar Alfredo Portilla-Flores; Mauricio Felipe Mauledoux-Monroy. Tuning a PD+ Controller by Means of Dynamic Optimization in a Mobile Manipulator With Coupled Dynamics. IEEE Access 2019, 7, 124712 -124726.
AMA StyleVladimir Prada-Jimenez, Paola Andrea Nino-Suarez, Edgar Alfredo Portilla-Flores, Mauricio Felipe Mauledoux-Monroy. Tuning a PD+ Controller by Means of Dynamic Optimization in a Mobile Manipulator With Coupled Dynamics. IEEE Access. 2019; 7 (99):124712-124726.
Chicago/Turabian StyleVladimir Prada-Jimenez; Paola Andrea Nino-Suarez; Edgar Alfredo Portilla-Flores; Mauricio Felipe Mauledoux-Monroy. 2019. "Tuning a PD+ Controller by Means of Dynamic Optimization in a Mobile Manipulator With Coupled Dynamics." IEEE Access 7, no. 99: 124712-124726.
An Isolated Microgrid (IMG) is an electrical distribution network combined with modern information technologies aiming at reducing costs and pollution to the environment. In this article, we implement the Bacterial Foraging Optimization Algorithm (BFOA) to optimize an IMG model, which includes renewable energy sources, such as wind and solar, as well as a conventional generation unit based on diesel fuel. Two novel versions of the BFOA were implemented and tested: Two-Swim Modified BFOA (TS-MBFOA), and Normalized TS-MBFOA (NTS-MBFOA). In a first experiment, the TS-MBFOA parameters were calibrated through a set of 87 independent runs. In a second experiment, 30 independent runs of both TS-MBFOA and NTS-MBFOA were conducted to compare their performance on minimizing the IMG using the best parameter tuning. Results showed that TS-MBFOA obtained better numerical solutions compared to NTS-MBFOA and LSHADE-CV, an Evolutionary Algorithm, found in the literature. However, the best solution found by NTS-MBFOA is better from a mechatronic point of view because it favors the lifetime of the IMG, resulting in economic savings in the long term.
Betania Hernández-Ocaña; José Hernández-Torruco; Oscar Chávez-Bosquez; Maria B. Calva-Yáñez; Edgar A. Portilla-Flores. Bacterial Foraging-Based Algorithm for Optimizing the Power Generation of an Isolated Microgrid. Applied Sciences 2019, 9, 1261 .
AMA StyleBetania Hernández-Ocaña, José Hernández-Torruco, Oscar Chávez-Bosquez, Maria B. Calva-Yáñez, Edgar A. Portilla-Flores. Bacterial Foraging-Based Algorithm for Optimizing the Power Generation of an Isolated Microgrid. Applied Sciences. 2019; 9 (6):1261.
Chicago/Turabian StyleBetania Hernández-Ocaña; José Hernández-Torruco; Oscar Chávez-Bosquez; Maria B. Calva-Yáñez; Edgar A. Portilla-Flores. 2019. "Bacterial Foraging-Based Algorithm for Optimizing the Power Generation of an Isolated Microgrid." Applied Sciences 9, no. 6: 1261.
Nowadays, industrial robot applications are required to customize the manufacturing of diverse products to reduce both downtime and standoff variability. Two methods for robot programming are regularly implemented to carry out that goal. The first one, online programming, requires a specialized operator to guide the robot through desired poses, and the quality of the result is directly limited by his skill level. On the other side, off-line programming uses software packaging to simulate robot applications before their implementation. It reduces downtime with respect to online programming but requires additional calibration steps. In this paper, a novel procedure is presented to obtain accurate surface approximations by combining linear interpolations generated during online programming with a triangulated surface reconstruction of a workpiece surface representation. The method uses a point cloud instead of a predefined mesh to reduce the standoff variability between the robotic tool center point and the surface. Additionally, a technique based on a penalized least squares method was implemented to smooth the trajectory, including position and orientation. The proposed methodology was validated with three well-known case studies involving real trajectories, with simulations in Matlab® and RobotStudio®, as well as by experimentation with an industrial ABB robot. The quality of the results demonstrates a great efficiency of this method for path generation based on surface reconstruction.
Miguel Angel Funes-Lora; Edgar Alfredo Portilla-Flores; Eduardo Vega-Alvarado; Raul Rivera Blas; Emmanuel Alejandro Merchán Cruz; Manuel Faraon Carbajal Romero. A Novel Mesh Following Technique Based on a Non-Approximant Surface Reconstruction for Industrial Robotic Path Generation. IEEE Access 2019, 7, 22807 -22817.
AMA StyleMiguel Angel Funes-Lora, Edgar Alfredo Portilla-Flores, Eduardo Vega-Alvarado, Raul Rivera Blas, Emmanuel Alejandro Merchán Cruz, Manuel Faraon Carbajal Romero. A Novel Mesh Following Technique Based on a Non-Approximant Surface Reconstruction for Industrial Robotic Path Generation. IEEE Access. 2019; 7 (99):22807-22817.
Chicago/Turabian StyleMiguel Angel Funes-Lora; Edgar Alfredo Portilla-Flores; Eduardo Vega-Alvarado; Raul Rivera Blas; Emmanuel Alejandro Merchán Cruz; Manuel Faraon Carbajal Romero. 2019. "A Novel Mesh Following Technique Based on a Non-Approximant Surface Reconstruction for Industrial Robotic Path Generation." IEEE Access 7, no. 99: 22807-22817.
In this work, a graph-theory based approach for representing planar mechanisms is presented, the Santiago-Portilla Method (SPM). From the corresponding adjacency matrix, SPM generates an extended matrix containing the complete characterization of a planar mechanism, including all the information about both topology and geometry. This matrix representation can be used for the optimal design of mechanisms, allowing simultaneously the topological and dimensional synthesis by means of computational tools such as the metaheuristic algorithms. A case study corresponding to the design of a fixed-linear-trajectory tracker mechanism is included in order to test the efficiency of the proposed approach. It was carried out by addressing the design as an optimization problem and solving it with the Differential Evolution algorithm, representing the individuals in its population by the matrix form generated by SPM. The results of the case study show that SPM and its matrix representation constitute a useful and flexible tool for the solution of real engineering problems involving the design of planar mechanisms.
Eric Santiago-Valenten; Edgar Alfredo Portilla-Flores; Efren Mezura-Montes; Eduardo Vega-Alvarado; Maria Barbara Calva-Yanez; Martin Pedroza-Villalba. A Graph-Theory-Based Method for Topological and Dimensional Representation of Planar Mechanisms as a Computational Tool for Engineering Design. IEEE Access 2018, 7, 587 -596.
AMA StyleEric Santiago-Valenten, Edgar Alfredo Portilla-Flores, Efren Mezura-Montes, Eduardo Vega-Alvarado, Maria Barbara Calva-Yanez, Martin Pedroza-Villalba. A Graph-Theory-Based Method for Topological and Dimensional Representation of Planar Mechanisms as a Computational Tool for Engineering Design. IEEE Access. 2018; 7 (99):587-596.
Chicago/Turabian StyleEric Santiago-Valenten; Edgar Alfredo Portilla-Flores; Efren Mezura-Montes; Eduardo Vega-Alvarado; Maria Barbara Calva-Yanez; Martin Pedroza-Villalba. 2018. "A Graph-Theory-Based Method for Topological and Dimensional Representation of Planar Mechanisms as a Computational Tool for Engineering Design." IEEE Access 7, no. 99: 587-596.
In this paper, an alternative approach for topology optimization of truss-type structures is presented. The structural design is translated to a constrained discrete optimization problem based on weight reduction, with performance considerations included in its objective function. The constraints are related to the maximum global stress and to the individual strain energy density. Each member has a standard profile and its absence/presence in the structural representation is implemented with a binary coding; in order to avoid singularities while in the structural analysis, a scheme for simulating the effects of missing members by means of the birth/death element technique is applied. An energy-based approach is employed to detect those elements that not contribute to the overall stiffness. The optimization problem is solved by applying a Modified Binary Differential Evolution algorithm, and the graph theory is applied in parallel with the optimization process to discard unfeasible structures and reduce execution time. The structural performance is evaluated by an execution-time static analysis based on the finite-element method, considering the behavior in a 3-D environment and using commercial software to reduce the uncertainty in this step. The presented proposal is implemented in ANSYS APDL, using as case studies two different structures with a specific load case. The obtained results show a volume reduction of more than 40% off the initial structures, indicating that the proposed approach can be a high-quality tool for structural design in real engineering problems.
Martin Pedroza-Villalba; Edgar Alfredo Portilla-Flores; Eduardo Vega-Alvarado; Maria Barbara Calva-Yanez; Eric Santiago-Valentin; Enrique Alcala-Fazio. Truss Topology Optimization Based on a Birth/Death Element Approach. IEEE Access 2018, 6, 72609 -72619.
AMA StyleMartin Pedroza-Villalba, Edgar Alfredo Portilla-Flores, Eduardo Vega-Alvarado, Maria Barbara Calva-Yanez, Eric Santiago-Valentin, Enrique Alcala-Fazio. Truss Topology Optimization Based on a Birth/Death Element Approach. IEEE Access. 2018; 6 ():72609-72619.
Chicago/Turabian StyleMartin Pedroza-Villalba; Edgar Alfredo Portilla-Flores; Eduardo Vega-Alvarado; Maria Barbara Calva-Yanez; Eric Santiago-Valentin; Enrique Alcala-Fazio. 2018. "Truss Topology Optimization Based on a Birth/Death Element Approach." IEEE Access 6, no. : 72609-72619.
In this paper, a methodology to design a hexa-rotor with the capability to reject disturbances using tilted propellers is presented. The methodology proposes the use of a robustness index as a measurement of the capability to reject external disturbances. Moreover, an energy index is proposed as a measurement of the energy consumed by the hexa-rotor in hovering. It is shown that the robustness index is opposed to this energy index. Therefore, a multi-objective optimization problem is proposed in which the objective functions are the robustness index and the energy index. This problem is solved with the help of an evolutionary algorithm with a Pareto approach. Three solutions are selected from the Pareto front and tested with a proposed controller in order to show the feasibility of the methodology. Finally, the design that has a better trade-off between the two objectives is simulated with Gaussian noise and with the maximum disturbance that is capable of rejecting.
Victor Manuel Arellano-Quintana; Edgar Alfredo Portilla-Flores; Emmanuel Alejandro Merchan-Cruz. Multi-Objective Design Optimization of a Hexa-Rotor With Disturbance Rejection Capability Using an Evolutionary Algorithm. IEEE Access 2018, 6, 69064 -69074.
AMA StyleVictor Manuel Arellano-Quintana, Edgar Alfredo Portilla-Flores, Emmanuel Alejandro Merchan-Cruz. Multi-Objective Design Optimization of a Hexa-Rotor With Disturbance Rejection Capability Using an Evolutionary Algorithm. IEEE Access. 2018; 6 (99):69064-69074.
Chicago/Turabian StyleVictor Manuel Arellano-Quintana; Edgar Alfredo Portilla-Flores; Emmanuel Alejandro Merchan-Cruz. 2018. "Multi-Objective Design Optimization of a Hexa-Rotor With Disturbance Rejection Capability Using an Evolutionary Algorithm." IEEE Access 6, no. 99: 69064-69074.
The knee prosthesis development has tried many approaches including passive, dynamically damped and powered designs. Nevertheless, the passive approach still has some very important aspects to contribute to this complex design process and must be restudied before applying any powered approach. The synergistic combination of this two perspectives is necessary to conceive the knee prosthesis implementation as a biomechatronic design and to take advantage of the best from each approach. The purpose of this study is the dimensional synthesis of a polycentric six-bar mechanism to be implemented as a knee prosthesis. For this reason, a constrained numerical optimization is proposed where the main objective is the minimization of the error when following the desired trajectory, previously obtained as a result of the Mexican anthropometry studies. Additionally, this study adds, as a requirement, the avoidance of the knee hyperextension with the mechanism itself instead of using mechanical stops added into other stages of the knee design. This work handles this new requirement by applying a set of new constraints in the optimization problem to impose the desired behavior as well as forcing the synthesized mechanism to be a Non-Grashof mechanism. The optimization problem is solved by using an evolutionary technique, because of its simplicity in the implementation and the good results reported in literature when solving real-world engineering problems. The Differential Evolution algorithm is applied in combination with some simple but efficient rules to handle the constraints. By following this route the obtained mechanism follows the desired trajectory, avoids the hyperextension and its configuration is more compact due to the folding characteristics of a Non-Grashof configuration. Finally, the obtained mechanism simulation is presented and it is modeled using CAD tools.
Cuauhtémoc Morales-Cruz; Edgar Alfredo Portilla-Flores; Rosaura Anaíd Suárez-Santillán; Noemi Hernández-Oliva; Maria Bárbara Calva-Yáñez. Synthesis of a Non-Grashof Six-Bar Polycentric Knee Prostheses Using an Evolutionary Optimization Algorithm. EngOpt 2018 Proceedings of the 6th International Conference on Engineering Optimization 2018, 1121 -1132.
AMA StyleCuauhtémoc Morales-Cruz, Edgar Alfredo Portilla-Flores, Rosaura Anaíd Suárez-Santillán, Noemi Hernández-Oliva, Maria Bárbara Calva-Yáñez. Synthesis of a Non-Grashof Six-Bar Polycentric Knee Prostheses Using an Evolutionary Optimization Algorithm. EngOpt 2018 Proceedings of the 6th International Conference on Engineering Optimization. 2018; ():1121-1132.
Chicago/Turabian StyleCuauhtémoc Morales-Cruz; Edgar Alfredo Portilla-Flores; Rosaura Anaíd Suárez-Santillán; Noemi Hernández-Oliva; Maria Bárbara Calva-Yáñez. 2018. "Synthesis of a Non-Grashof Six-Bar Polycentric Knee Prostheses Using an Evolutionary Optimization Algorithm." EngOpt 2018 Proceedings of the 6th International Conference on Engineering Optimization , no. : 1121-1132.
Many robots are dedicated to replicate trajectories recorded manually; the recorded trajectories may contain singularities, which occur when positions and/or orientations are not achievable by the robot. The optimization of those trajectories is a complex issue and classical optimization methods present a deficient performance when solving them. Metaheuristics are well-known methodologies for solving hard engineering problems. In this case, they are applied to obtain alternative trajectories that pass as closely as possible to the original one, reorienting the end-effector and displacing its position to avoid the singularities caused by limitations of inverse kinematics equations, the task, and the workspace. In this article, alternative solutions for an ill-posed problem concerning the behavior of the robotic end-effector position and orientation are proposed using metaheuristic algorithms such as cuckoo search, differential evolution, and modified artificial bee colony. The case study for this work considers a three-revolute robot (3R), whose trajectories can contain or not singularities, and an optimization problem is defined to minimize the objective function that represents the error of the alternative trajectories. A tournament in combination with a constant of proportionality allows the metaheuristics to modify the gradual orientation and position of the robot when a singularity is present. Consequently, the procedure selects from all the possible elbow-configurations the best that fits the trajectory. A classical numerical technique, Newton’s method, is used to compare the results of the applied metaheuristics, to evaluate their quality. The results of this implementation indicate that metaheuristic algorithms are an efficient tool to solve the problem of optimizing the end-effector behavior, because of the quality of the alternative trajectory produced.
Miguel Angel Funes Lora; Edgar Alfredo Portilla-Flores; Raul Rivera Blas; Emmanuel Alejandro Merchán Cruz; Manuel Faraón Carbajal Romero. Metaheuristic techniques comparison to optimize robotic end-effector behavior and its workspace. International Journal of Advanced Robotic Systems 2018, 15, 1 .
AMA StyleMiguel Angel Funes Lora, Edgar Alfredo Portilla-Flores, Raul Rivera Blas, Emmanuel Alejandro Merchán Cruz, Manuel Faraón Carbajal Romero. Metaheuristic techniques comparison to optimize robotic end-effector behavior and its workspace. International Journal of Advanced Robotic Systems. 2018; 15 (5):1.
Chicago/Turabian StyleMiguel Angel Funes Lora; Edgar Alfredo Portilla-Flores; Raul Rivera Blas; Emmanuel Alejandro Merchán Cruz; Manuel Faraón Carbajal Romero. 2018. "Metaheuristic techniques comparison to optimize robotic end-effector behavior and its workspace." International Journal of Advanced Robotic Systems 15, no. 5: 1.
In this paper, an improved harmony search (ImHS) algorithm is presented. HS is a simple but efficient metaheuristic method explored in recent literature, that simulates the process of musical improvisation. Two modifications for parameter tuning are proposed to enhance the algorithm performance in the solution of constrained numerical optimization problems, maintaining the simplicity of its original design. Metaheuristics are methods for solving optimization problems, and are based in two processes: exploration (diversification) and exploitation (intensification). The proposed modifications improve both processes in HS, without breaking their balance. A well-known ideal problem set was used as a reference to compare the efficiency of the developed algorithm ImHS with HS and three of its most successful variants, and also with two other metaheuristics of different nature, artificial bee colony (ABC) and modified ABC (MABC). Various techniques were applied to evaluate the algorithm performance with the proposed modifications, in order to validate the reliability of the comparison. In most case studies, ImHS far surpassed the results of HS and ABC, also improving the performance of the selected variants. Additionally, its results reached a similar quality than the obtained with MABC but with a significantly lower computational cost, suggesting that it can be a useful tool for solving real-world optimization problems if they are modeled as constrained numerical cases.
Edgar Alfredo Portilla-Flores; Alvaro Sanchez-Marquez; Leticia Flores-Pulido; Eduardo Vega-Alvarado; Maria Barbara Calva Yanez; Jorge Alexander Aponte-Rodriguez; Paola Andrea Nino-Suarez. Enhancing the Harmony Search Algorithm Performance on Constrained Numerical Optimization. IEEE Access 2017, 5, 25759 -25780.
AMA StyleEdgar Alfredo Portilla-Flores, Alvaro Sanchez-Marquez, Leticia Flores-Pulido, Eduardo Vega-Alvarado, Maria Barbara Calva Yanez, Jorge Alexander Aponte-Rodriguez, Paola Andrea Nino-Suarez. Enhancing the Harmony Search Algorithm Performance on Constrained Numerical Optimization. IEEE Access. 2017; 5 ():25759-25780.
Chicago/Turabian StyleEdgar Alfredo Portilla-Flores; Alvaro Sanchez-Marquez; Leticia Flores-Pulido; Eduardo Vega-Alvarado; Maria Barbara Calva Yanez; Jorge Alexander Aponte-Rodriguez; Paola Andrea Nino-Suarez. 2017. "Enhancing the Harmony Search Algorithm Performance on Constrained Numerical Optimization." IEEE Access 5, no. : 25759-25780.
In this paper a concurrent design methodology is applied for developing a wrist rehabilitation device as a case study, by using geometric and topologic optimization techniques. The objective is to evaluate the proficiency of this methodology as an alternative to solve real word design problems. The case study was selected because it can be carried out as an optimization problem from a structural point of view, including simultaneously the selection of the material and the dimensional synthesis. The goal is to obtain a virtual optimized prototype that can be tested by traditional techniques, such as the finite element method. The simulation results were satisfactory, suggesting that concurrent design can be a useful tool for solving engineering problems.
Jorge A. Aponte-Rodriguez; Edgar Alfredo Portilla-Flores; Oscar Fernando Avilés Sánchez; Vladimir Prada-Jimenez; Eduardo Vega-Alvarado. Concurrent design applied to the structural optimization of a wrist rehabilitation system. 2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) 2017, 1 -6.
AMA StyleJorge A. Aponte-Rodriguez, Edgar Alfredo Portilla-Flores, Oscar Fernando Avilés Sánchez, Vladimir Prada-Jimenez, Eduardo Vega-Alvarado. Concurrent design applied to the structural optimization of a wrist rehabilitation system. 2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE). 2017; ():1-6.
Chicago/Turabian StyleJorge A. Aponte-Rodriguez; Edgar Alfredo Portilla-Flores; Oscar Fernando Avilés Sánchez; Vladimir Prada-Jimenez; Eduardo Vega-Alvarado. 2017. "Concurrent design applied to the structural optimization of a wrist rehabilitation system." 2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE) , no. : 1-6.
Angie Julieth Valencia Castañeda; Mauricio Felipe Mauledoux Monroy; Oscar Fernando Avilés Sánchez; Paola Andrea Niño Suarez; Edgar Alfredo Portilla Flores. Embedded System for Front Differential Drive of Rotational and Translational Vehicle Position Control. International Review of Automatic Control (IREACO) 2017, 10, 325 .
AMA StyleAngie Julieth Valencia Castañeda, Mauricio Felipe Mauledoux Monroy, Oscar Fernando Avilés Sánchez, Paola Andrea Niño Suarez, Edgar Alfredo Portilla Flores. Embedded System for Front Differential Drive of Rotational and Translational Vehicle Position Control. International Review of Automatic Control (IREACO). 2017; 10 (4):325.
Chicago/Turabian StyleAngie Julieth Valencia Castañeda; Mauricio Felipe Mauledoux Monroy; Oscar Fernando Avilés Sánchez; Paola Andrea Niño Suarez; Edgar Alfredo Portilla Flores. 2017. "Embedded System for Front Differential Drive of Rotational and Translational Vehicle Position Control." International Review of Automatic Control (IREACO) 10, no. 4: 325.
Eduardo Vega-Alvarado; G. A. Muñoz-Hernández; Efren Mezura-Montes; G. Sepúlveda-Cervantes; P. Bautista-Camino; Edgar Alfredo Portilla-Flores. Un algoritmo memético basado en la colonia artificial de abejas para síntesis óptima de mecanismos. Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería 2017, 33, 1 .
AMA StyleEduardo Vega-Alvarado, G. A. Muñoz-Hernández, Efren Mezura-Montes, G. Sepúlveda-Cervantes, P. Bautista-Camino, Edgar Alfredo Portilla-Flores. Un algoritmo memético basado en la colonia artificial de abejas para síntesis óptima de mecanismos. Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería. 2017; 33 (2):1.
Chicago/Turabian StyleEduardo Vega-Alvarado; G. A. Muñoz-Hernández; Efren Mezura-Montes; G. Sepúlveda-Cervantes; P. Bautista-Camino; Edgar Alfredo Portilla-Flores. 2017. "Un algoritmo memético basado en la colonia artificial de abejas para síntesis óptima de mecanismos." Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería 33, no. 2: 1.
This paper presents a procedure for designing a mechanical training and rehabilitation gait system centered on ankle trajectories for children with cerebral palsy or any other psycho-motor limitation. With the aim of developing a reconfigurable device adjustable to the anthropometric characteristics of the user, an analytic model for the generation of ankle trajectories was elaborated, taking as a base the experimental data reported in literature. A dimensional synthesis for a mechanism to follow the drop type trajectories was carried out as a constrained numerical optimization problem that was solved with both the mathematical programming method and an evolutive algorithm, sequential quadratic programming (SQP) and differential evolution (DE), respectively. The comparative analysis of the results from both methods for this case study shows that DE outperforms SQP because of the limited feasibility space derived from the problem constrains and boundaries. The best result from DE was simulated with a computer-aided design package using a real size model for manufacturing.
Maria Barbara Calva-Yanez; Paola Andrea Nino-Suarez; Edgar Alfredo Portilla-Flores; Jorge Alexander Aponte-Rodriguez; Eric Santiago-Valentn. Reconfigurable Mechanical System Design for Tracking an Ankle Trajectory Using an Evolutionary Optimization Algorithm. IEEE Access 2017, 5, 5480 -5493.
AMA StyleMaria Barbara Calva-Yanez, Paola Andrea Nino-Suarez, Edgar Alfredo Portilla-Flores, Jorge Alexander Aponte-Rodriguez, Eric Santiago-Valentn. Reconfigurable Mechanical System Design for Tracking an Ankle Trajectory Using an Evolutionary Optimization Algorithm. IEEE Access. 2017; 5 ():5480-5493.
Chicago/Turabian StyleMaria Barbara Calva-Yanez; Paola Andrea Nino-Suarez; Edgar Alfredo Portilla-Flores; Jorge Alexander Aponte-Rodriguez; Eric Santiago-Valentn. 2017. "Reconfigurable Mechanical System Design for Tracking an Ankle Trajectory Using an Evolutionary Optimization Algorithm." IEEE Access 5, no. : 5480-5493.
In this paper the result of a binational research, Mexico-Colombia, developed for the last four years is presented. This project aims to develop a robotic system to gait training for children 2 to 12 years with cerebral palsy. The concept design system and the methodology used during the development of the design process is presented. And finally, the optimal design of the ankle-foot stage is showed. The design of this stage was resolved as a dynamic optimization problem using a differential evolution algorithm with a constraint handling mechanism.
P. A. Niño Suarez; F. Calderon-Romero; M. B. Calva-Yañez; Edgar Alfredo Portilla-Flores; Oscar Fernando Avilés Sánchez. Optimal design of a mechanism for children foot guiding. VI Latin American Congress on Biomedical Engineering CLAIB 2014, Paraná, Argentina 29, 30 & 31 October 2014 2017, 717 -720.
AMA StyleP. A. Niño Suarez, F. Calderon-Romero, M. B. Calva-Yañez, Edgar Alfredo Portilla-Flores, Oscar Fernando Avilés Sánchez. Optimal design of a mechanism for children foot guiding. VI Latin American Congress on Biomedical Engineering CLAIB 2014, Paraná, Argentina 29, 30 & 31 October 2014. 2017; ():717-720.
Chicago/Turabian StyleP. A. Niño Suarez; F. Calderon-Romero; M. B. Calva-Yañez; Edgar Alfredo Portilla-Flores; Oscar Fernando Avilés Sánchez. 2017. "Optimal design of a mechanism for children foot guiding." VI Latin American Congress on Biomedical Engineering CLAIB 2014, Paraná, Argentina 29, 30 & 31 October 2014 , no. : 717-720.
Hybrid metaheuristics, explored in recent literature, are optimization methods that combine a global search metaheuristic with algorithms for refinement that in turn can be stochastic or deterministic. Although initially they were applied to combinatorial optimization, nowadays there are hybrid algorithms for a wide range of numerical problems: static or dynamic, mono or multi-objective, unconstrained or constrained, among others. In this paper a novel application of a hybrid method, MemMABC, is applied as a tool in a case study for the synthesis of an end effector presented as a constrained optimization problem, using a model for a two-finger gripper. The objective is to show the ability of hybrid metaheuristics as an alternative method for solving hard problems, specifically of numerical optimization. MemMABC is a memetic algorithm, that uses the modified artificial bee colony algorithm(MABC) for global searching and a version of random walk as local searcher, adapted to handle design constraints with an ε-constraint scheme. Grippers are end effectors used in a wide variety of robots, and are a good example of hard optimization problems. The simulation of results shows an accurate control of the gripping force along the opening range of the calculated mechanisms, suggesting that MemMABC can produce quality solutions for real-world engineering cases.
Eduardo Vega-Alvarado; Edgar Alfredo Portilla-Flores; Maria Barbara Calva-Yanez; Gabriel Sepulveda-Cervantes; Jorge Alexander Aponte-Rodriguez; Eric Santiago-Valentín; Jose Marco Antonio Rueda-Melendez. Hybrid Metaheuristic for Designing an End Effector as a Constrained Optimization Problem. IEEE Access 2017, 5, 6002 -6014.
AMA StyleEduardo Vega-Alvarado, Edgar Alfredo Portilla-Flores, Maria Barbara Calva-Yanez, Gabriel Sepulveda-Cervantes, Jorge Alexander Aponte-Rodriguez, Eric Santiago-Valentín, Jose Marco Antonio Rueda-Melendez. Hybrid Metaheuristic for Designing an End Effector as a Constrained Optimization Problem. IEEE Access. 2017; 5 ():6002-6014.
Chicago/Turabian StyleEduardo Vega-Alvarado; Edgar Alfredo Portilla-Flores; Maria Barbara Calva-Yanez; Gabriel Sepulveda-Cervantes; Jorge Alexander Aponte-Rodriguez; Eric Santiago-Valentín; Jose Marco Antonio Rueda-Melendez. 2017. "Hybrid Metaheuristic for Designing an End Effector as a Constrained Optimization Problem." IEEE Access 5, no. : 6002-6014.