Control of Pneumatic Artificial Muscles Using Local Cyclic Inputs and Genetic Algorithm

Tomori, Hiroki; Hiyoshi, Kenta

doi:10.3390/act7030036

Cited by 10 publications

(11 citation statements)

References 13 publications

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“…Changes occur during the execution phase because disruptive events occur. But, without counting the works of [ 16 – 18 ], in all cases they focus on traditional methodologies. They present proposals that seek to solve the problem of planning software projects, but now in a dynamic environment.…”

Section: Bibliographic Reviewmentioning

confidence: 99%

“…The mentioned solution seeks to provide project leaders with a set of replanning proposals in a few minutes, since in real projects an expert usually presents a replanning proposal in at least 180 min [ 16 ], without guaranteeing that it is a good solution. By modeling the replanning problem as a multi-objective one, the result is ideally a set of solutions that present the best values found for each of the objectives and solutions that present a compensation.…”

Section: Multi-objective Genetic Algorithm To Solve Rpaspmentioning

confidence: 99%

“…This means that from the initial planning a chromosome is built. The other members of the population are variations of this chromosome, which are obtained by mutating the random values of the original schedule [ 16 ].…”

Section: Multi-objective Genetic Algorithm To Solve Rpaspmentioning

confidence: 99%

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RETRACTED CHAPTER: Software Project Planning Through Comparison of Bio-inspired Algorithms

Silva

Varela

Molina

et al. 2020

Communications in Computer and Information Science

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Currently many organizations have adopted the development of software projects with agile methodologies, particularly Scrum, which has more than 20 years of development. In these methodologies, software is developed iteratively and delivered to the client in increments called releases. In the releases, the goal is to develop system functionality that quickly adds value to the client's business. At the beginning of the project, one or more releases are planned. For solving the problem of replanning in the context of releases, a model is proposed considering the characteristics of agile development using Scrum. The results obtained show that the algorithm takes a little less than 7 min for solutions that propose replanning composed by 16 sprints, which is equivalent to 240 days of project. They show that applying a repair operator increases the hypervolume quality indicator in the resulting population.

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Section: Bibliographic Reviewmentioning

confidence: 99%

Section: Multi-objective Genetic Algorithm To Solve Rpaspmentioning

confidence: 99%

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RETRACTED CHAPTER: Software Project Planning Through Comparison of Bio-inspired Algorithms

Silva

Varela

Molina

et al. 2020

Communications in Computer and Information Science

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“…Hiroki [ 22 ] presented a control method for a two joint leg driven by PAM. The control method is based on adjusting the timing of cyclic input signal using a genetic algorithm (GA) according to simple cost functions.…”

Section: Introductionmentioning

confidence: 99%

A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles

Humaidi

Ibraheem

Azar

et al. 2020

Entropy

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This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error.

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“…These few brief examples show how pneumatic actuation has moved away from being just about heavy metallic cylinders. In this special edition Tomori et al [8], Sekine et al [9], and Martens et al [10] have explored new designs, control and modelling of pneumatic artificial muscles. Miron et al [11] have developed pneumatic soft bending actuators for use in grippers and Tarvainen et al [12] have advanced the dexterity of fiber-reinforced actuators through the use of multiple air chambers and have proposed using the new actuator for hand rehabilitation.…”

mentioning

confidence: 99%

Pneumatic Actuators

Davis

2018

Actuators

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Since the 1970s, when robots began to see widespread use, they have mainly been applied within the manufacturing sector with the automotive industry being by far the largest user of robots. However, in the last decade or so the application areas where robots are being used has changed and is increasing at a rapid rate. Robots are now seeing use in domains as diverse as healthcare, the home, and entertainment to name just a few. Where historically robots were kept separate from human for safety reasons it is now accepted that robots need to interact more closely with humans to either assist them or work collaboratively with them. It has been recognised that these new operational arenas require a fundamental change in robot design philosophy. This has resulted in developments in material, mechanical and particularly actuator technologies and a shift to a more biologically inspired design philosophy. This is particularly apparent through the rapid increase in interest in so called "soft robots", which are more suited to direct human interaction due to softness being incorporated during design and through the use of compliant actuators and soft materials.Historic limitations in mathematical skill and control theory meant that traditional robot design was primarily concerned with the development of structures and mechanisms that are highly predictable. Consequently structures have been rigid, typically formed in metal and have used stiff actuation systems, initially hydraulic before the electric motor became most common. However, experience shows us that humans, who are actuated by soft and compliant organic muscle, are able to perform accurate position control of highly flexibly structures, for example, an expert fisherman can determine the point where a hook enters the water precisely despite the fact that the rod may be many metres in length and extremely flexible. This is evidence of the highly dexterous behaviour that can be achieved with flexible structures and compliant actuation.Pneumatic actuation is a simplified and cleaner version of hydraulics and uses fluids in gaseous form instead of liquid. Due to the lower density and therefore compressibility of the fluid pneumatic systems are less stiff i.e., are complaint. Although pneumatic actuation in the form of cylinders is very widely used in automation, pneumatic systems have proven difficult to control and 'bang-bang' methods are commonly used. However, recent increased interest in compliant and soft systems has lead the research community to reassess the potential of pneumatic actuation for more complex tasks.Whilst the pneumatic cylinder remains the most widely used pneumatic actuator industrially, there are a plethora of other actuators that use the power of compressed air. Pneumatic bellows have been used for centuries and over the last 50 years or so many other systems have been developed. One of the earliest of these new designs was the McKibben Muscle that was developed by physician Joseph L. McKibben in the 1950s as an actuator for an orthotic device...

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Control of Pneumatic Artificial Muscles Using Local Cyclic Inputs and Genetic Algorithm

Cited by 10 publications

References 13 publications

RETRACTED CHAPTER: Software Project Planning Through Comparison of Bio-inspired Algorithms

RETRACTED CHAPTER: Software Project Planning Through Comparison of Bio-inspired Algorithms

A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles

Pneumatic Actuators

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