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...

Muscle forces during locomotion are often predicted using static optimisation and SQP. SQP has been criticised for over-estimating force magnitudes and under-estimating co-contraction. These problems may be related to SQP's difficulty in locating the global minimum to complex optimisation problems. Algorithms designed to locate the global minimum may be useful in addressing these problems. Musc...

Successive Quadratic Programming (SQP) has been the method of choice for the solution of many nonlinear programming problems in process engineering. However, for the solution of large problems with SQP based codes, the combinatorial complexity associated with active set quadratic programming (QP) methods can be a bottleneck in exploiting the problem structure. In this paper, we examine the meri...

QPCOMP is an extremely robust algorithm for solving mixed nonlinear complementarity problems that has fast local convergence behavior. Based in part on the NE/SQP method of Pang and Gabriell14], this algorithm represents a signiicant advance in robustness at no cost in eeciency. In particular, the algorithm is shown to solve any solvable Lipschitz continuous, continuously diierentiable, pseudo-...

this study on the design of pid controllers for flexible single-arm robot system optimizationpso method is focused so that the coefficients of the pid controller are reduced. in this study,pid controller and pso algorithm have been described and then by using matlab, pidcontrol was simulated. then by pso algorithm, attempts to reduce the pid coefficients are givenby simulation. finally pid coef...

according to this fact that wind is now a part of global energy portfolio and due to unreliable and discontinuous production of wind energy; prediction of wind power value is proposed as a main necessity. in recent years, various methods have been proposed for wind power prediction. in this paper the prediction structure involves feature selection and use of artificial neural network (ann). in ...

in this paper, the gain in ld-celp speech coding algorithm is predicted using three neural models, that are equipped by genetic and particle swarm optimization (pso) algorithms to optimize the structure and parameters of neural networks. elman, multi-layer perceptron (mlp) and fuzzy artmap are the candidate neural models. the optimized number of nodes in the first and second hidden layers of el...

This paper proposes a novel hybrid algorithm namely APSO-BFO which combines merits of Bacterial Foraging Optimization (BFO) algorithm and Adaptive Particle Swarm Optimization (APSO) algorithm to determine the optimal PID parameters for control of nonlinear systems. To balance between exploration and exploitation, the proposed hybrid algorithm accomplishes global search over the whole search spa...