in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

in this paper, genetic algorithms (gas) are employed to control simultaneous linear systems in both state and output feedback. first, the similarity transformation is applied to obtain parameterized controllers. this requires solution of a system of equations and also some non-linear inequalities. gas are used to solve these equations and inequalities. therefore, the paper presents an analytica...

optimization is an important methodology for activities in planning and design. the transportation designers are able to introduce better projects when they can save time and cost of travel for project by optimization methods. most of the optimization problems in engineering are more complicated than they can be solved by custom optimization methods. the most common and available methods are he...

The task of VLSI physical design is to produce the layout of an integrated circuit. New performance requirements are becoming increasingly dominant in today's sub-micron regimes requiring new physical design algorithms. Genetic algorithms have been increasingly successful when applied in VLSI physical design in the last 10 years. Genetic algorithms for VLSI physical design are reviewed in gener...