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Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method
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Zeitschriftentitel: | Transactions of the Institute of Measurement and Control |
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Personen und Körperschaften: | , , , , |
In: | Transactions of the Institute of Measurement and Control, 34, 2012, 2-3, S. 334-360 |
Medientyp: | E-Article |
Sprache: | Englisch |
veröffentlicht: |
SAGE Publications
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Schlagwörter: |
author_facet |
Xu, He Gao, X.Z. Peng, Gao-liang Xue, Kai Ma, Yulin Xu, He Gao, X.Z. Peng, Gao-liang Xue, Kai Ma, Yulin |
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author |
Xu, He Gao, X.Z. Peng, Gao-liang Xue, Kai Ma, Yulin |
spellingShingle |
Xu, He Gao, X.Z. Peng, Gao-liang Xue, Kai Ma, Yulin Transactions of the Institute of Measurement and Control Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method Instrumentation |
author_sort |
xu, he |
spelling |
Xu, He Gao, X.Z. Peng, Gao-liang Xue, Kai Ma, Yulin 0142-3312 1477-0369 SAGE Publications Instrumentation http://dx.doi.org/10.1177/0142331210366690 <jats:p> In this paper, the caster-and-camber-based reconfiguration of the trafficability metrics of mobile robots is first discussed. The trafficability metrics of the reconfigurable mobile robots, such as the equivalent lateral and longitudinal stability margins with non-linear characteristics, can be built up using the geometrical projection approach. We next propose a modified Harmony Search method to deal with the constrained optimization problems, which is based on the direct handling of the given constraints. It is further applied to obtain the optimal configurable prototypes of a mobile robot. </jats:p> Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method Transactions of the Institute of Measurement and Control |
doi_str_mv |
10.1177/0142331210366690 |
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2012 |
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SAGE Publications |
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ai |
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ai |
series |
Transactions of the Institute of Measurement and Control |
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49 |
title |
Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_unstemmed |
Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_full |
Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_fullStr |
Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_full_unstemmed |
Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_short |
Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_sort |
prototype optimization of reconfigurable mobile robots based on a modified harmony search method |
topic |
Instrumentation |
url |
http://dx.doi.org/10.1177/0142331210366690 |
publishDate |
2012 |
physical |
334-360 |
description |
<jats:p> In this paper, the caster-and-camber-based reconfiguration of the trafficability metrics of mobile robots is first discussed. The trafficability metrics of the reconfigurable mobile robots, such as the equivalent lateral and longitudinal stability margins with non-linear characteristics, can be built up using the geometrical projection approach. We next propose a modified Harmony Search method to deal with the constrained optimization problems, which is based on the direct handling of the given constraints. It is further applied to obtain the optimal configurable prototypes of a mobile robot. </jats:p> |
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author | Xu, He, Gao, X.Z., Peng, Gao-liang, Xue, Kai, Ma, Yulin |
author_facet | Xu, He, Gao, X.Z., Peng, Gao-liang, Xue, Kai, Ma, Yulin, Xu, He, Gao, X.Z., Peng, Gao-liang, Xue, Kai, Ma, Yulin |
author_sort | xu, he |
container_issue | 2-3 |
container_start_page | 334 |
container_title | Transactions of the Institute of Measurement and Control |
container_volume | 34 |
description | <jats:p> In this paper, the caster-and-camber-based reconfiguration of the trafficability metrics of mobile robots is first discussed. The trafficability metrics of the reconfigurable mobile robots, such as the equivalent lateral and longitudinal stability margins with non-linear characteristics, can be built up using the geometrical projection approach. We next propose a modified Harmony Search method to deal with the constrained optimization problems, which is based on the direct handling of the given constraints. It is further applied to obtain the optimal configurable prototypes of a mobile robot. </jats:p> |
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spelling | Xu, He Gao, X.Z. Peng, Gao-liang Xue, Kai Ma, Yulin 0142-3312 1477-0369 SAGE Publications Instrumentation http://dx.doi.org/10.1177/0142331210366690 <jats:p> In this paper, the caster-and-camber-based reconfiguration of the trafficability metrics of mobile robots is first discussed. The trafficability metrics of the reconfigurable mobile robots, such as the equivalent lateral and longitudinal stability margins with non-linear characteristics, can be built up using the geometrical projection approach. We next propose a modified Harmony Search method to deal with the constrained optimization problems, which is based on the direct handling of the given constraints. It is further applied to obtain the optimal configurable prototypes of a mobile robot. </jats:p> Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method Transactions of the Institute of Measurement and Control |
spellingShingle | Xu, He, Gao, X.Z., Peng, Gao-liang, Xue, Kai, Ma, Yulin, Transactions of the Institute of Measurement and Control, Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method, Instrumentation |
title | Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_full | Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_fullStr | Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_full_unstemmed | Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_short | Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
title_sort | prototype optimization of reconfigurable mobile robots based on a modified harmony search method |
title_unstemmed | Prototype optimization of reconfigurable mobile robots based on a modified Harmony Search method |
topic | Instrumentation |
url | http://dx.doi.org/10.1177/0142331210366690 |