In this paper we consider a fractional optimization problem that minimizes the ratio of two quadratic functions subject to a strictly convex quadratic constraint. First using the extension of Charnes-Cooper transformation, an equivalent homogenized quadratic reformulation of the problem is given. Then we show that under certain assumptions, it can be solved to global optimality using semidefini...

in present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. for this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, effect of gravitation, and non-holonomic constraints. to study large deformation of links, non-linear relation of displacement-s...

due to the fact that the error surface of adaptive infinite impulse response (iir) systems is generally nonlinear and multimodal, the conventional derivative based techniques fail when used in adaptive identification of such systems. in this case, global optimization techniques are required in order to avoid the local minima. harmony search (hs), a musical inspired metaheuristic, is a recently ...

the multiple traveling salesman problem (mtsp) is a generalization of the famous traveling salesman problem (tsp), where more than one salesman is used in the solution. although the mtsp is a typical kind of computationally complex combinatorial optimization problem, it can be extended to a wide variety of routing problems. this paper presents an efficient and evolutionary optimization algorith...

One of the most important extensions of the capacitated vehicle routing problem (CVRP) is the vehicle routing problem with simultaneous pickup and delivery (VRPSPD) where customers require simultaneous delivery and pick-up service. In this paper, we propose an effective ant colony optimization (EACO) which includes insert, swap and 2-Opt moves for solving VRPSPD that is different with common an...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

cellular manufacturing system is one of the most important applications of group technology. design of this system involves many structural and operational issues, in which the cell formation and production planning are two important steps. in this paper, a new mathematical model is proposed for integration of cell formation and production planning problems with the aim of minimizing the overal...