A Hybrid EDA/Nelder-Mead for Concurrent Robot Optimization

S. Ivvan Valdez; Eusebio Hernandez; Sajjad Keshtkar

doi:10.1007/978-3-030-14347-3_20

A Hybrid EDA/Nelder-Mead for Concurrent Robot Optimization

S. Ivvan Valdez, Eusebio Hernandez, Sajjad Keshtkar

Escuela Superior de Ingeniería Mecánica y Eléctrica (ESIME), Unidad Ticomán

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

We introduce an optimization algorithm which combines an Estimation of Distribution Algorithm (EDA) and the Nelder-Mead method for global and local optimization, respectively. The proposal not only interleaves global and local search steps but takes advantage of the information collected by the global search to use it into the local search and backwards, providing of an efficient symbiosis. The algorithm is applied to the concurrent optimization of a rehabilitation robot design, that is to say, to the dimensional synthesis as well as the determination of control gains. Finally, we present an statistical analysis and evidence about the performance of this symbiotic algorithm.

Original language	English
Title of host publication	Hybrid Intelligent Systems - 18th International Conference on Hybrid Intelligent Systems HIS 2018
Editors	Ajith Abraham, Maria Leonilde Varela, Ana Maria Madureira, Niketa Gandhi
Publisher	Springer Verlag
Pages	198-207
Number of pages	10
ISBN (Print)	9783030143466
DOIs	https://doi.org/10.1007/978-3-030-14347-3_20
State	Published - 2020
Event	18th International Conference on Hybrid Intelligent Systems, HIS 2018 - Porto, Portugal Duration: 13 Dec 2018 → 15 Dec 2018

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	923
ISSN (Print)	2194-5357
ISSN (Electronic)	2194-5365

Conference

Conference	18th International Conference on Hybrid Intelligent Systems, HIS 2018
Country/Territory	Portugal
City	Porto
Period	13/12/18 → 15/12/18

Keywords

Concurrent optimization
Dimensional synthesis
Estimation of Distribution Algorithm
Nelder-Mead
Walking rehabilitation device

Access to Document

10.1007/978-3-030-14347-3_20

Cite this

Valdez, S. I., Hernandez, E., & Keshtkar, S. (2020). A Hybrid EDA/Nelder-Mead for Concurrent Robot Optimization. In A. Abraham, M. L. Varela, A. M. Madureira, & N. Gandhi (Eds.), Hybrid Intelligent Systems - 18th International Conference on Hybrid Intelligent Systems HIS 2018 (pp. 198-207). (Advances in Intelligent Systems and Computing; Vol. 923). Springer Verlag. https://doi.org/10.1007/978-3-030-14347-3_20

Valdez, S. Ivvan ; Hernandez, Eusebio ; Keshtkar, Sajjad. / A Hybrid EDA/Nelder-Mead for Concurrent Robot Optimization. Hybrid Intelligent Systems - 18th International Conference on Hybrid Intelligent Systems HIS 2018. editor / Ajith Abraham ; Maria Leonilde Varela ; Ana Maria Madureira ; Niketa Gandhi. Springer Verlag, 2020. pp. 198-207 (Advances in Intelligent Systems and Computing).

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abstract = "We introduce an optimization algorithm which combines an Estimation of Distribution Algorithm (EDA) and the Nelder-Mead method for global and local optimization, respectively. The proposal not only interleaves global and local search steps but takes advantage of the information collected by the global search to use it into the local search and backwards, providing of an efficient symbiosis. The algorithm is applied to the concurrent optimization of a rehabilitation robot design, that is to say, to the dimensional synthesis as well as the determination of control gains. Finally, we present an statistical analysis and evidence about the performance of this symbiotic algorithm.",

keywords = "Concurrent optimization, Dimensional synthesis, Estimation of Distribution Algorithm, Nelder-Mead, Walking rehabilitation device",

author = "Valdez, {S. Ivvan} and Eusebio Hernandez and Sajjad Keshtkar",

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Valdez, SI, Hernandez, E & Keshtkar, S 2020, A Hybrid EDA/Nelder-Mead for Concurrent Robot Optimization. in A Abraham, ML Varela, AM Madureira & N Gandhi (eds), Hybrid Intelligent Systems - 18th International Conference on Hybrid Intelligent Systems HIS 2018. Advances in Intelligent Systems and Computing, vol. 923, Springer Verlag, pp. 198-207, 18th International Conference on Hybrid Intelligent Systems, HIS 2018, Porto, Portugal, 13/12/18. https://doi.org/10.1007/978-3-030-14347-3_20

A Hybrid EDA/Nelder-Mead for Concurrent Robot Optimization. / Valdez, S. Ivvan; Hernandez, Eusebio; Keshtkar, Sajjad.
Hybrid Intelligent Systems - 18th International Conference on Hybrid Intelligent Systems HIS 2018. ed. / Ajith Abraham; Maria Leonilde Varela; Ana Maria Madureira; Niketa Gandhi. Springer Verlag, 2020. p. 198-207 (Advances in Intelligent Systems and Computing; Vol. 923).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - We introduce an optimization algorithm which combines an Estimation of Distribution Algorithm (EDA) and the Nelder-Mead method for global and local optimization, respectively. The proposal not only interleaves global and local search steps but takes advantage of the information collected by the global search to use it into the local search and backwards, providing of an efficient symbiosis. The algorithm is applied to the concurrent optimization of a rehabilitation robot design, that is to say, to the dimensional synthesis as well as the determination of control gains. Finally, we present an statistical analysis and evidence about the performance of this symbiotic algorithm.

AB - We introduce an optimization algorithm which combines an Estimation of Distribution Algorithm (EDA) and the Nelder-Mead method for global and local optimization, respectively. The proposal not only interleaves global and local search steps but takes advantage of the information collected by the global search to use it into the local search and backwards, providing of an efficient symbiosis. The algorithm is applied to the concurrent optimization of a rehabilitation robot design, that is to say, to the dimensional synthesis as well as the determination of control gains. Finally, we present an statistical analysis and evidence about the performance of this symbiotic algorithm.

KW - Concurrent optimization

KW - Dimensional synthesis

KW - Estimation of Distribution Algorithm

KW - Nelder-Mead

KW - Walking rehabilitation device

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BT - Hybrid Intelligent Systems - 18th International Conference on Hybrid Intelligent Systems HIS 2018

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Valdez SI, Hernandez E, Keshtkar S. A Hybrid EDA/Nelder-Mead for Concurrent Robot Optimization. In Abraham A, Varela ML, Madureira AM, Gandhi N, editors, Hybrid Intelligent Systems - 18th International Conference on Hybrid Intelligent Systems HIS 2018. Springer Verlag. 2020. p. 198-207. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-030-14347-3_20

A Hybrid EDA/Nelder-Mead for Concurrent Robot Optimization

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