DSpaceCRIS@UNITENThe DSpace digital repository system captures, stores, indexes, preserves, and distributes digital research material.http://dspace.uniten.edu.my/jspui2019-07-19T08:02:42Z2019-07-19T08:02:42Z5091Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic AlgorithmAbed, I.A.Koh, S.P.Sahari, K.S.M.Jagadeesh, P.Tiong, S.K.http://dspace.uniten.edu.my/jspui/handle/123456789/66832018-01-03T01:52:13Z2014-01-01T00:00:00ZTitle: Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm
Authors: Abed, I.A.; Koh, S.P.; Sahari, K.S.M.; Jagadeesh, P.; Tiong, S.K.
Abstract: A method based on a modified electromagnetism-like with two-direction local search algorithm (MEMTDLS) and genetic algorithm (GA) is proposed to determine the optimal time of task scheduling for dual-robot manipulators. A GA is utilized to calculate the near-optimal task scheduling for both robots, and the MEMTDLS is recommended as a suitable alternative in obtaining multiple solutions at each task point for both manipulators with minimal error. During the course of the tour, the robots move from point to point with a short cycle time, while ensuring that no collision occurs between the two manipulators themselves or between the dual manipulators and the static obstacles in the workspace. The movement and the configurations of the manipulators at the task points were illustrated using a simulator that was developed via Visual Basic.Net. The method is verified using two simulators that are used as examples for two identical four-link planar robots that work in the environment, with square-shaped obstacles cluttered at different locations. © 2014 King Fahd University of Petroleum and Minerals.
2014-01-01T00:00:00ZPendulum-like algorithm as a local search techniqueAbed, I.A.Koh, S.P.Sahari, K.S.M.Tiong, S.K.Younis, H.A.-K.Abed, A.A.http://dspace.uniten.edu.my/jspui/handle/123456789/69482018-01-11T08:27:25Z2016-01-01T00:00:00ZTitle: Pendulum-like algorithm as a local search technique
Authors: Abed, I.A.; Koh, S.P.; Sahari, K.S.M.; Tiong, S.K.; Younis, H.A.-K.; Abed, A.A.
Abstract: The Pendulum-like algorithm is based on the concepts of the pendulum. All the ideas that are derived have been embedded into the suggested method. The Pendulum-like algorithm introduced, is expected to provide very good results in solving the optimization problems. This is due to the fact that Pendulum-like algorithm is a method with directed force which is reduced gradually with approximation to the global solution and it also uses the idea of back and forth movement to enhance the solution. Thus, the Pendulum-like algorithm would be integrated with the attraction-repulsion mechanism to introduce a very promising problem solving algorithm. The parameters of the proposed algorithm are evaluated and tested to prove the effect of each one on the algorithm. Also, the results of the algorithm are simulated the same behavior for the parameters of physical pendulum. © 2016 IEEE.
2016-01-01T00:00:00ZOptimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic AlgorithmAbed, I.A.Koh, S.P.Sahari, K.S.M.Jagadeesh, P.Tiong, S.K.http://dspace.uniten.edu.my/jspui/handle/123456789/69842018-01-11T08:27:44Z2014-01-01T00:00:00ZTitle: Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm
Authors: Abed, I.A.; Koh, S.P.; Sahari, K.S.M.; Jagadeesh, P.; Tiong, S.K.
Abstract: A method based on a modified electromagnetism-like with two-direction local search algorithm (MEMTDLS) and genetic algorithm (GA) is proposed to determine the optimal time of task scheduling for dual-robot manipulators. A GA is utilized to calculate the near-optimal task scheduling for both robots, and the MEMTDLS is recommended as a suitable alternative in obtaining multiple solutions at each task point for both manipulators with minimal error. During the course of the tour, the robots move from point to point with a short cycle time, while ensuring that no collision occurs between the two manipulators themselves or between the dual manipulators and the static obstacles in the workspace. The movement and the configurations of the manipulators at the task points were illustrated using a simulator that was developed via Visual Basic.Net. The method is verified using two simulators that are used as examples for two identical four-link planar robots that work in the environment, with square-shaped obstacles cluttered at different locations. © 2014 King Fahd University of Petroleum and Minerals.
2014-01-01T00:00:00ZSolving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travelAbed, I.A.Koh, S.P.Sahari, K.S.M.Tiong, S.K.Tan, N.M.L.http://dspace.uniten.edu.my/jspui/handle/123456789/69852018-01-11T08:27:44Z2014-01-01T00:00:00ZTitle: Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
Authors: Abed, I.A.; Koh, S.P.; Sahari, K.S.M.; Tiong, S.K.; Tan, N.M.L.
Abstract: A new modification of Electromagnetism-like (EM) algorithm which incorporating the Record-to-Record Travel (RRT) local search algorithm; namely MEMR has been developed to solve the problem of Inverse Kinematics (IK) for a four Degree-of-Freedom (DOF) manipulator. The proposed method is able to generate multiple robot configurations for the IK test performed at different end effect or positions. In addition, the comparison between the proposed MEMR and Genetic Algorithm (GA) was carried out using two mathematical test functions; De Jong and Rastrigin. The tests results show that the proposed MEMR is comparable in performance to GA in terms of both convergence speed and error rate. © Maxwell Scientific Organization, 2014.
2014-01-01T00:00:00ZUsing Electromagnetism-like algorithm and genetic algorithm to optimize time of task scheduling for dual manipulatorsAbed, I.A.Sahari, K.S.M.Koh, S.P.Tiong, S.K.Jagadeesh, P.http://dspace.uniten.edu.my/jspui/handle/123456789/69872018-01-11T08:27:45Z2013-01-01T00:00:00ZTitle: Using Electromagnetism-like algorithm and genetic algorithm to optimize time of task scheduling for dual manipulators
Authors: Abed, I.A.; Sahari, K.S.M.; Koh, S.P.; Tiong, S.K.; Jagadeesh, P.
Abstract: A method based on Electromagnetism-Like algorithm (EM) and Genetic Algorithm (GA) is proposed to determine the time-optimal task scheduling for dual robot manipulators. GA is utilized to calculate the near-optimal task scheduling for the two robots. On top of that, the EM is recommended as a suitable alternative to obtain multiple solutions at each task points for both manipulators with less error. During the course of the tour, the dual robots move from point to point with less cycle time, while ensuring that no collision occurs between the two manipulators or between the dual manipulators and the static obstacles in the workspace. The movement and the configurations of the manipulators at the task points were visualized using a simulator developed via Visual Basic. Net. The method is verified using two simulators acting as examples for two identical four-link planar robots working in the environment, with square-shaped obstacles cluttered at different locations. © 2013 IEEE.
2013-01-01T00:00:00ZComparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematicsAbed, I.A.Koh, S.P.Mohamed Sahari, K.S.Tiong, S.K.Yap, D.F.W.http://dspace.uniten.edu.my/jspui/handle/123456789/69942018-01-11T08:27:48Z2012-01-01T00:00:00ZTitle: Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics
Authors: Abed, I.A.; Koh, S.P.; Mohamed Sahari, K.S.; Tiong, S.K.; Yap, D.F.W.
Abstract: A comparison study between Electromagnetism-Like Algorithm (EM) and Genetic Algorithm (GA) has been presented in this work to solve the Inverse Kinematics (IK) of a four-link planar robot manipulator. The comparison is focused on some points for both algorithms like the accuracy of the results and the speed of convergence. Different target points have been taken to check the performance of each algorithm to solve the IK problem. The results showed that EM algorithm needs less population size and number of generations to get the true solution. There are multiple robot configurations at the goal points and both algorithms are able to find these solutions at each point. Self developed software simulator is used to display some of these solutions at each goal position. © IDOSI Publications, 2012.
2012-01-01T00:00:00ZAn improved electromagnetism-like algorithm for numerical optimizationTan, J.-D.Dahari, M.Koh, S.-P.Koay, Y.-Y.Abed, I.-A.http://dspace.uniten.edu.my/jspui/handle/123456789/57852018-01-14T23:45:21Z2015-01-01T00:00:00ZTitle: An improved electromagnetism-like algorithm for numerical optimization
Authors: Tan, J.-D.; Dahari, M.; Koh, S.-P.; Koay, Y.-Y.; Abed, I.-A.
Abstract: This paper presents a new Electromagnetism-like Mechanism (EM) algorithm with Split, Probe and Compare feature (SPC-EM). The proposed algorithm replaces the local search segment of a standard EM with a new search scheme named Split, Probe, and Compare (SPC). A nonlinear equation is designed to systematically and dynamically adjust the length of the probes based on the outcome of the Compare segment in each iteration. Extensive computational simulations and comparisons on 10 different benchmark problems from the literature were carried out. Results show that the new modified mechanism outperformed all other algorithms involved in the benchmarking. We thus conclude that the proposed SPC-EM works well with the designed probe-length tuning equation in solving numerical optimization problems. © 2016.
2015-01-01T00:00:00ZSolving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travelAbed, I.A.Koh, S.P.Sahari, K.S.M.Tiong, S.K.Tan, N.M.L.http://dspace.uniten.edu.my/jspui/handle/123456789/89952018-02-21T04:49:47Z2014-01-01T00:00:00ZTitle: Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
Authors: Abed, I.A.; Koh, S.P.; Sahari, K.S.M.; Tiong, S.K.; Tan, N.M.L.
Abstract: A new modification of Electromagnetism-like (EM) algorithm which incorporating the Record-to-Record Travel (RRT) local search algorithm; namely MEMR has been developed to solve the problem of Inverse Kinematics (IK) for a four Degree-of-Freedom (DOF) manipulator. The proposed method is able to generate multiple robot configurations for the IK test performed at different end effect or positions. In addition, the comparison between the proposed MEMR and Genetic Algorithm (GA) was carried out using two mathematical test functions; De Jong and Rastrigin. The tests results show that the proposed MEMR is comparable in performance to GA in terms of both convergence speed and error rate. © Maxwell Scientific Organization, 2014.
2014-01-01T00:00:00ZUsing Electromagnetism-like algorithm and genetic algorithm to optimize time of task scheduling for dual manipulatorsAbed, I.A.Sahari, K.S.M.Koh, S.P.Tiong, S.K.Jagadeesh, P.http://dspace.uniten.edu.my/jspui/handle/123456789/66842018-01-03T02:03:40Z2013-01-01T00:00:00ZTitle: Using Electromagnetism-like algorithm and genetic algorithm to optimize time of task scheduling for dual manipulators
Authors: Abed, I.A.; Sahari, K.S.M.; Koh, S.P.; Tiong, S.K.; Jagadeesh, P.
Abstract: A method based on Electromagnetism-Like algorithm (EM) and Genetic Algorithm (GA) is proposed to determine the time-optimal task scheduling for dual robot manipulators. GA is utilized to calculate the near-optimal task scheduling for the two robots. On top of that, the EM is recommended as a suitable alternative to obtain multiple solutions at each task points for both manipulators with less error. During the course of the tour, the dual robots move from point to point with less cycle time, while ensuring that no collision occurs between the two manipulators or between the dual manipulators and the static obstacles in the workspace. The movement and the configurations of the manipulators at the task points were visualized using a simulator developed via Visual Basic. Net. The method is verified using two simulators acting as examples for two identical four-link planar robots working in the environment, with square-shaped obstacles cluttered at different locations. © 2013 IEEE.
2013-01-01T00:00:00Z