in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

in this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses ferguson splines and pso (particle swarm optimization). the objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. ferguson splines create preliminary paths using random generated para...

regarding the large number of developed particle swarm optimization (pso) algorithms and the various applications for which pso has been used, selecting the most suitable variant of pso for solving a particular optimization problem is a challenge for most researchers. in this paper, using a comprehensive survey and taxonomy on different types of pso, an expert system (es) is designed to identif...

this paper presents a new nonlinear mathematical model to solve a cell formation problem which assumes that processing time and inter-arrival time of parts are random variables. in this research, cells are defined as a queue system which will be optimized via queuing theory. in this queue system, each machine is assumed as a server and each part as a customer. the grouping of machines and parts...

reliability investigation has always been one of the most important issues in power systems planning. the outages rate in power system reflects the fact that more attentions should be paid on reliability indices to supply consumers with uninterrupted power. using reliability indices in economic dispatch problem may lead to the system load demand with high reliability and low probability of powe...

In the past few decades, climatic changes led by environmental pollution, emittance of greenhouse gases, and emergence brown energy utilization have to global warming. Global warming increases Earth's temperature, thereby causing severe effects on human conditions threatening livelihoods millions people. issues are increase in temperatures that lead heat strokes high-temperature-related disease...

differential steering of in-wheel electric vehicle provides the functions of both active steering and power assisted steering with the coupling control of force and displacement transfer characteristic of system. a collaborative optimization model of the differential power-assisted steering system of in-wheel electric vehicle is built, with steering economy as the main system optimization goal,...

This paper proposes a refined version of particle swarm optimization technique for the optimum design of steel structures. Swarm is composed of a number of particles and each particle in the swarm represents a candidate solution of the optimum design problem. Design constraints in accordance with ASD-AISC (Allowable Stress Design Code of American Institute of Steel Institution) are imposed by t...