Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356787
H. Haghighi, M. Nekoui
Humanoid walking trajectory is a complicated task due to a large number of degrees of freedom (DOFs) and varies in mechanical structure during walking. This paper first introduces a newly designed mechanism, an 8 DOF biped robot, which designed in SolidWorks. Then it presents a human like walking trajectories for the feet and the hips in order to achieve smooth and continuous walking trajectory. For reaching this goal, we applied cubic and Hermit spline polynomial interpolation of initial conditions for the robot position, velocity and acceleration. We specify the bipedal walking sequences and define some important issues in order to obtain a continuous swing leg trajectory. Finally, an inverse kinematic is implemented to convert the trajectories into joints rotation. Geometric approach for inverse kinematic is applied and expressed in terms of joins angles, and the walking gait is generated based on the joints angles. The effects of the trajectory are illustrated by simulation results.
{"title":"Inverse kinematic for an 8 degrees of freedom biped robot based on cubic polynomial trajectory generation","authors":"H. Haghighi, M. Nekoui","doi":"10.1109/ICCIAUTOM.2011.6356787","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356787","url":null,"abstract":"Humanoid walking trajectory is a complicated task due to a large number of degrees of freedom (DOFs) and varies in mechanical structure during walking. This paper first introduces a newly designed mechanism, an 8 DOF biped robot, which designed in SolidWorks. Then it presents a human like walking trajectories for the feet and the hips in order to achieve smooth and continuous walking trajectory. For reaching this goal, we applied cubic and Hermit spline polynomial interpolation of initial conditions for the robot position, velocity and acceleration. We specify the bipedal walking sequences and define some important issues in order to obtain a continuous swing leg trajectory. Finally, an inverse kinematic is implemented to convert the trajectories into joints rotation. Geometric approach for inverse kinematic is applied and expressed in terms of joins angles, and the walking gait is generated based on the joints angles. The effects of the trajectory are illustrated by simulation results.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122263777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356737
V. Ghaffari, A. Safavi, V. Naghavi
This paper addresses a robust predictive control of additive discrete time uncertain nonlinear systems. The controller design is characterized as an optimization problem of the “worst-case” objective function over an infinite moving horizon. A sufficient state feedback synthesis condition is provided in the form of a linear matrix inequality (LMI) optimization and will be solved online at each time step. A simulation example is exploited to illustrate the applicability of the proposed approach.
{"title":"Robust model predictive control for a class of uncertain nonlinear systems: An LMI approach","authors":"V. Ghaffari, A. Safavi, V. Naghavi","doi":"10.1109/ICCIAUTOM.2011.6356737","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356737","url":null,"abstract":"This paper addresses a robust predictive control of additive discrete time uncertain nonlinear systems. The controller design is characterized as an optimization problem of the “worst-case” objective function over an infinite moving horizon. A sufficient state feedback synthesis condition is provided in the form of a linear matrix inequality (LMI) optimization and will be solved online at each time step. A simulation example is exploited to illustrate the applicability of the proposed approach.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129978294","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356666
E. Zahedi, A. Gharaveisi
Anti-lock Braking System (ABS) can be controlled by wheel slip regulation control method. Two output measured variables are usually considered for slip regulation: wheel speed (wheel's angular speed) and vehicle velocity. Accurate slip calculation is a key to control the ABS system. Since wheel slip control loop is utilized, the faultless operation of this control loop is strictly required. For this purpose, effective sensor fault detection and isolation of ABS has to be developed. In this paper, sensor fault detection and isolation is designed for ABS. Sensor faults detection and isolation for a class of nonlinear systems is proposed. To isolate and estimate the possible sensor faults a bank of Sliding Mode Observer (SMO) is designed. Also it can provide a method to estimate the faults. The sensor fault isolation method is tested on ABS, and simulation results show that it can isolate various types of sensor faults effectively.
{"title":"Fault detection and isolation of Anti-lock Braking System sensors","authors":"E. Zahedi, A. Gharaveisi","doi":"10.1109/ICCIAUTOM.2011.6356666","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356666","url":null,"abstract":"Anti-lock Braking System (ABS) can be controlled by wheel slip regulation control method. Two output measured variables are usually considered for slip regulation: wheel speed (wheel's angular speed) and vehicle velocity. Accurate slip calculation is a key to control the ABS system. Since wheel slip control loop is utilized, the faultless operation of this control loop is strictly required. For this purpose, effective sensor fault detection and isolation of ABS has to be developed. In this paper, sensor fault detection and isolation is designed for ABS. Sensor faults detection and isolation for a class of nonlinear systems is proposed. To isolate and estimate the possible sensor faults a bank of Sliding Mode Observer (SMO) is designed. Also it can provide a method to estimate the faults. The sensor fault isolation method is tested on ABS, and simulation results show that it can isolate various types of sensor faults effectively.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134385023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356634
S. Tairov, L. C. Stevanatto
This work is devoted to impedance measurements in the frequency band corresponding to the Randles model of the first order. There was proposed the estimating technique of the battery SOC based on the Bode phase diagram. The frequency of the local minimum on the impedance phase characteristic makes it possible to assess the loss of the battery capacity at early stages of life. The proposed experimental setup may serve as a prototype for impedance testers in the field.
{"title":"Impedance measurements for battery state of health monitoring","authors":"S. Tairov, L. C. Stevanatto","doi":"10.1109/ICCIAUTOM.2011.6356634","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356634","url":null,"abstract":"This work is devoted to impedance measurements in the frequency band corresponding to the Randles model of the first order. There was proposed the estimating technique of the battery SOC based on the Bode phase diagram. The frequency of the local minimum on the impedance phase characteristic makes it possible to assess the loss of the battery capacity at early stages of life. The proposed experimental setup may serve as a prototype for impedance testers in the field.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"118 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131725695","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356773
M. Korayem, M. Taherifar, S. M. Maddah, H. Tourajizadeh, S. Khayatzadeh
The implementation of the distance learning and e-learning in technical fields like Mechanical and Electrical Engineering is still far behind the similar developments in narrative fields like Economy, management. New approach and new specific knowledge are required to develop such a system. We expect to meet the requirements of distance learning by developing the software-based laboratory exercises, i.e., a virtual laboratory. That's why a graphical user interface (GUI) and simulator is designed here using LabVIEW software for the cable robot of IcasBot (IUST Cable Suspended Robot) with 6 DOFs and 6 actuating cables. This interface is designed to be used for training the users in a virtual environment. This proposed GUI Consists of 4 main sections including of kinematics and Dynamics of cable robot and simulator of robot which is employed to display the virtual motion of the end-effector. Using the proposed GUI in this paper, the user is able to view and study the end-effector motion in a virtual environment before operating the tests on the real robot. Also this software package is designed in a way that could be applicable for simulating all sorts of robots in order to train the users of educational and industrial environments.
{"title":"Design and programming a graphical user interface for the IcasBot robot using LabVIEW","authors":"M. Korayem, M. Taherifar, S. M. Maddah, H. Tourajizadeh, S. Khayatzadeh","doi":"10.1109/ICCIAUTOM.2011.6356773","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356773","url":null,"abstract":"The implementation of the distance learning and e-learning in technical fields like Mechanical and Electrical Engineering is still far behind the similar developments in narrative fields like Economy, management. New approach and new specific knowledge are required to develop such a system. We expect to meet the requirements of distance learning by developing the software-based laboratory exercises, i.e., a virtual laboratory. That's why a graphical user interface (GUI) and simulator is designed here using LabVIEW software for the cable robot of IcasBot (IUST Cable Suspended Robot) with 6 DOFs and 6 actuating cables. This interface is designed to be used for training the users in a virtual environment. This proposed GUI Consists of 4 main sections including of kinematics and Dynamics of cable robot and simulator of robot which is employed to display the virtual motion of the end-effector. Using the proposed GUI in this paper, the user is able to view and study the end-effector motion in a virtual environment before operating the tests on the real robot. Also this software package is designed in a way that could be applicable for simulating all sorts of robots in order to train the users of educational and industrial environments.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"212 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132618799","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356637
M. Sakhuja, J. Son, H. Le, X. Baojuan, L. K. Verma, H. Zeng, H. Yang, A. Danner, C. S. Bhatia
Solar energy is indispensable and needs to be developed to meet the future energy demands of the world. One of the impediments to this technology is the low efficiency of the solar module, the glass shield being one of the reasons. At present, solar modules suffer from 4% transmission loss at the air/glass interface (at normal incidence) which increases with an increase in the accumulation of dust particles. Hence, in this paper techniques have been presented to reduce the transmission loss in solar modules as well as to keep them clean. Nanopatterning of the glass shield surface exhibited an increase of ~3% in optical transmission as well as an improvement in omnidirectional antireflective behaviour. A solar module was also fabricated which exhibited an improvement of ~6% in the efficiency with the nanopatterning of packaging glass cover. Perfluorodecyltriethoxysilane (PFTS) and Titanium dioxide (TiO2) coatings have been employed for self-cleaning applications. Setup and performance of a 10 kW photovoltaic system has also been discussed.
{"title":"Nanopatterned and self-cleaning glass substrates for solar cell packaging","authors":"M. Sakhuja, J. Son, H. Le, X. Baojuan, L. K. Verma, H. Zeng, H. Yang, A. Danner, C. S. Bhatia","doi":"10.1109/ICCIAUTOM.2011.6356637","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356637","url":null,"abstract":"Solar energy is indispensable and needs to be developed to meet the future energy demands of the world. One of the impediments to this technology is the low efficiency of the solar module, the glass shield being one of the reasons. At present, solar modules suffer from 4% transmission loss at the air/glass interface (at normal incidence) which increases with an increase in the accumulation of dust particles. Hence, in this paper techniques have been presented to reduce the transmission loss in solar modules as well as to keep them clean. Nanopatterning of the glass shield surface exhibited an increase of ~3% in optical transmission as well as an improvement in omnidirectional antireflective behaviour. A solar module was also fabricated which exhibited an improvement of ~6% in the efficiency with the nanopatterning of packaging glass cover. Perfluorodecyltriethoxysilane (PFTS) and Titanium dioxide (TiO2) coatings have been employed for self-cleaning applications. Setup and performance of a 10 kW photovoltaic system has also been discussed.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126574164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356689
M. Adeli, H. Zarabadipour, M. A. Shoorehdeli
Overhead crane is an industrial structure that is widely used in many harbors and factories. It is usually operated manually or by some conventional control methods. In this paper, we propose a hybrid controller includes both position regulation and anti-swing control. According to Takagi-Sugeno fuzzy model of an overhead crane and genetic algorithm, a fuzzy controller is designed with parallel distributed compensation and Linear Quadratic Regulation. Using genetic algorithm, important fuzzy rules are selected and so the number of rules decreased and design procedure need less computation and its computation needs less time. Further, the stability of the overhead crane with the parallel distributed fuzzy LQR controller is discussed. The stability analysis and control design problems is reduced to linear matrix inequality (LMI) problems. Simulation results illustrated the validity of the proposed parallel distributed fuzzy LQR control method and it was compared with a similar method parallel distributed fuzzy controller with same fuzzy rule set.
{"title":"Crane control via parallel distributed fuzzy LQR controller using genetic fuzzy rule selection","authors":"M. Adeli, H. Zarabadipour, M. A. Shoorehdeli","doi":"10.1109/ICCIAUTOM.2011.6356689","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356689","url":null,"abstract":"Overhead crane is an industrial structure that is widely used in many harbors and factories. It is usually operated manually or by some conventional control methods. In this paper, we propose a hybrid controller includes both position regulation and anti-swing control. According to Takagi-Sugeno fuzzy model of an overhead crane and genetic algorithm, a fuzzy controller is designed with parallel distributed compensation and Linear Quadratic Regulation. Using genetic algorithm, important fuzzy rules are selected and so the number of rules decreased and design procedure need less computation and its computation needs less time. Further, the stability of the overhead crane with the parallel distributed fuzzy LQR controller is discussed. The stability analysis and control design problems is reduced to linear matrix inequality (LMI) problems. Simulation results illustrated the validity of the proposed parallel distributed fuzzy LQR control method and it was compared with a similar method parallel distributed fuzzy controller with same fuzzy rule set.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131075622","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356745
R. Zaeri, A. Ghanbarzadeh, B. Attaran, Z. Zaeri
For linear systems and some of non-severe nonlinear systems, classic controllers such as PI and PID have been widely used in industrial control processes because of their simple structure and robust performance in a wide range of operating conditions. Several numerical approaches such as Fuzzy Logic Controller (FLC) algorithm and evolutionary algorithms have been used for the optimum design of PID controllers. In this paper, a pitch displacement of aircraft was controlled by FLC tuned with Bees Algorithm (BA). For a given input, the parameters of Mamdani-type-Fuzzy Logic Controller (the centers and the widths of the triangle membership functions (MFs) in inputs and output) were optimized by the BA with Integral Time Absolute Error (ITAE) as a cost function. In order to compare the optimized Fuzzy Logic Controller with different controller, the PI controller was tuned with BA and also PI controller tuned with Ziegler-Nichols tuning rules. The simulation results show that Fuzzy Logic Controller tuned by bees algorithm is better performance and more robust than the fuzzy-Expert and PI tuned by bees algorithm and Ziegler-Nichols for aircraft pitch control.
{"title":"Fuzzy Logic Controller based pitch control of aircraft tuned with Bees Algorithm","authors":"R. Zaeri, A. Ghanbarzadeh, B. Attaran, Z. Zaeri","doi":"10.1109/ICCIAUTOM.2011.6356745","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356745","url":null,"abstract":"For linear systems and some of non-severe nonlinear systems, classic controllers such as PI and PID have been widely used in industrial control processes because of their simple structure and robust performance in a wide range of operating conditions. Several numerical approaches such as Fuzzy Logic Controller (FLC) algorithm and evolutionary algorithms have been used for the optimum design of PID controllers. In this paper, a pitch displacement of aircraft was controlled by FLC tuned with Bees Algorithm (BA). For a given input, the parameters of Mamdani-type-Fuzzy Logic Controller (the centers and the widths of the triangle membership functions (MFs) in inputs and output) were optimized by the BA with Integral Time Absolute Error (ITAE) as a cost function. In order to compare the optimized Fuzzy Logic Controller with different controller, the PI controller was tuned with BA and also PI controller tuned with Ziegler-Nichols tuning rules. The simulation results show that Fuzzy Logic Controller tuned by bees algorithm is better performance and more robust than the fuzzy-Expert and PI tuned by bees algorithm and Ziegler-Nichols for aircraft pitch control.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133811383","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356764
A. Rastegarnia, W. Bazzi, A. Khalili
The distributed estimation problem arises in many sensor network-based applications. Recently, adaptive networks have been proposed in the literature to solve the problem of linear estimation in a cooperative fashion. Among the adaptive networks, the incremental-based algorithms (networks) offer excellent estimation performance, specially in small size networks. The goal of this paper is to design an incremental least-mean-squares (LMS) adaptive network with predefined performance. Specifically, under small step-sizes and some conditions on the data, we assign the step size parameter at any node in an incremental LMS adaptive network, in a way that that the steady-state value of mean-square deviation (MSD) at each individual node becomes smaller than a desired value. In the proposed algorithm, the step-size is adjusted for each node according to its measurement quality which is stated in terms of observation noise variance. Simulation results demonstrate the performance advantages of the proposed algorithm.
{"title":"Design of an incremental LMS adaptive network with desired mean-square deviation","authors":"A. Rastegarnia, W. Bazzi, A. Khalili","doi":"10.1109/ICCIAUTOM.2011.6356764","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356764","url":null,"abstract":"The distributed estimation problem arises in many sensor network-based applications. Recently, adaptive networks have been proposed in the literature to solve the problem of linear estimation in a cooperative fashion. Among the adaptive networks, the incremental-based algorithms (networks) offer excellent estimation performance, specially in small size networks. The goal of this paper is to design an incremental least-mean-squares (LMS) adaptive network with predefined performance. Specifically, under small step-sizes and some conditions on the data, we assign the step size parameter at any node in an incremental LMS adaptive network, in a way that that the steady-state value of mean-square deviation (MSD) at each individual node becomes smaller than a desired value. In the proposed algorithm, the step-size is adjusted for each node according to its measurement quality which is stated in terms of observation noise variance. Simulation results demonstrate the performance advantages of the proposed algorithm.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115522070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-12-01DOI: 10.1109/ICCIAUTOM.2011.6356721
Y. Alipouri, J. Poshtan
Genetic algorithm (GA) is the most famous kind of the evolutionary algorithms (EA). Similar to other EAs, it uses population to search for the global minimum on the optimal plate. It has three main operators: selection, reproduction and mutation. Fathers and mothers are selected from previous generation by the selection operator to breed the new individuals by the reproduction operator. Then, mutation operates and produces new attributes on offspring. In GA, reproduction operator is known by as the crossover operator. Many kinds of crossover operators have been introduced up to now. Almost all of them use coordinate of parents to determine the location of new individuals, but the cost information of parents has not been considered yet. By adding cost information of parents, the algorithm will be able to produce better points. Parent with low cost tell us that its district is not near to the global minimum, so offspring must be prevented from getting close to that locations. Inversely, locations of the parents who have good costs are probably nearer to the destination. Therefore, algorithms must steer offspring toward parents with suitable cost and prevent them from getting close to other parent's locations. This is what has been supposed and implemented in this paper. In this paper, a new crossover method is proposed and it is compared with other introduced crossover methods on some well-known cost functions. The results show capability of new method.
{"title":"Crossover operator of continuous GA with cost information","authors":"Y. Alipouri, J. Poshtan","doi":"10.1109/ICCIAUTOM.2011.6356721","DOIUrl":"https://doi.org/10.1109/ICCIAUTOM.2011.6356721","url":null,"abstract":"Genetic algorithm (GA) is the most famous kind of the evolutionary algorithms (EA). Similar to other EAs, it uses population to search for the global minimum on the optimal plate. It has three main operators: selection, reproduction and mutation. Fathers and mothers are selected from previous generation by the selection operator to breed the new individuals by the reproduction operator. Then, mutation operates and produces new attributes on offspring. In GA, reproduction operator is known by as the crossover operator. Many kinds of crossover operators have been introduced up to now. Almost all of them use coordinate of parents to determine the location of new individuals, but the cost information of parents has not been considered yet. By adding cost information of parents, the algorithm will be able to produce better points. Parent with low cost tell us that its district is not near to the global minimum, so offspring must be prevented from getting close to that locations. Inversely, locations of the parents who have good costs are probably nearer to the destination. Therefore, algorithms must steer offspring toward parents with suitable cost and prevent them from getting close to other parent's locations. This is what has been supposed and implemented in this paper. In this paper, a new crossover method is proposed and it is compared with other introduced crossover methods on some well-known cost functions. The results show capability of new method.","PeriodicalId":438427,"journal":{"name":"The 2nd International Conference on Control, Instrumentation and Automation","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116950749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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