Search Results (41)

Collaborative robots are vital in Industry 5.0 operations. They are utilized to perform tasks in collaboration with humans or other robots to increase overall production efficiency and execute complex tasks. Aiming at a comprehensive approach to assembly processes and highlighting new applications of collaborative robots, this paper presents the development of a digital twin (DT) for the design, monitoring, optimization and simulation of robots’ deployment in assembly cells. The DT integrates information from both the physical and virtual worlds to design the trajectory of collaborative robots. The physical information about the industrial environment is replicated within the DT in a computationally efficient way that aligns with the requirements of the path planning algorithm and the DT’s objectives. An enhanced artificial fish swarm algorithm (AFSA) is utilized for the 4D path planning optimization, taking into account dynamic and static obstacles. Finally, the proposed framework is utilized for the examination of a case in which four industrial robotic arms are collaborating for the assembly of an industrial component. Full article

With the progressive advancement of the energy transition strategy, wind–solar energy complementary power generation has emerged as a pivotal component in the global transition towards a sustainable, low-carbon energy future. To address the inherent challenges of intermittent renewable energy generation, this paper proposes a comprehensive energy optimization strategy that integrates coordinated wind–solar power dispatch with strategic battery storage capacity allocation. Through the development of a linear programming model for the wind–solar–storage hybrid system, incorporating critical operational constraints including load demand, an optimization solution was implemented using the Artificial Fish Swarm Algorithm (AFSA). This computational approach enabled the determination of an optimal scheme for the coordinated operation of wind, solar, and storage components within the integrated energy system. Based on the case study analysis, the AFSA optimization algorithm achieves a 1.07% reduction in total power generation costs compared to the traditional Simulated Annealing (SA) approach. Comparative analysis reveals that the integrated grid-connected operation mode exhibits superior economic performance over the standalone storage microgrid system. Additionally, we conducted a further analysis of the key factors contributing to the enhancement of economic benefits. The strategy proposed in this paper significantly enhances power supply stability, reduces overall costs and promotes the large-scale application of green energy. Full article

Industry 5.0 is a developing phase in the evolution of industrialization that aims to reshape the production process by enhancing human creativity through the utilization of automation technologies and machine intelligence. Its central pillar is the collaboration between robots and humans. Path planning is a major challenge in robotics. An offline 4D path planning algorithm is proposed to find the optimal path in an environment with static and dynamic obstacles. The time variable was embodied in an enhanced artificial fish swarm algorithm (AFSA). The proposed methodology considers changes in robot speeds as well as the times at which they occur. This is in order to realistically simulate the conditions that prevail during cooperation between robots and humans in the Industry 5.0 environment. A method for calculating time, including changes in robot speed during path formation, is presented. The safety value of dynamic obstacles, the coefficients of the importance of the terms of the agent’s distance to the ending point, and the safety value of dynamic obstacles were introduced in the objective function. The coefficients of obstacle variation and speed variation are also proposed. The proposed methodology is applied to simulated real-world challenges in Industry 5.0 using an industrial robotic arm. Full article

Path planning is a vital challenge in robot navigation. In the real world, robots operate in 3D environments with various obstacles and restrictions. An improved artificial fish swarm algorithm (AFSA) is proposed to solve 3D path planning problems in environments with obstacles. The improved AFSA incorporates a 3D model of 24 possible movement points to more realistically simulate real-world robot movement capabilities. Several improvements are adopted, such as methods of simple and advanced 3D elimination. The 3D implementation of an agent’s navigation model, called an “obstacle heatmap”, is also presented. The use of a safety value factor and a total movement point factor in the AFSA’s objective function are introduced. The combination of improved AFSA and a ray-casting algorithm is also presented. Finally, a method called “multiple laser activation” is introduced to overcome both the main disadvantage of the application of AFSAs in path planning and the limitation of the finite number of possible movement points that appear when bio-inspired algorithms are applied to generate the optimal path in a grid environment. The resulting path is applied to real-world challenges with drones, coordinate measuring machines, and industrial robotic arms. Full article

As one of the key components in rotating machinery, rolling bearings have a crucial impact on the safety and efficiency of production. Acoustic signal is a commonly used method in the field of mechanical fault diagnosis, but an overlapping phenomenon occurs very easily, which affects the diagnostic accuracy. Therefore, effective blind source separation and noise reduction of the acoustic signals generated between different devices is the key to bearing fault diagnosis using acoustic signals. To this end, this paper proposes a blind source separation method based on an AFSA-FastICA (Artificial Fish Swarm Algorithm, AFSA). Firstly, the foraging and clustering characteristics of the AFSA algorithm are utilized to perform global optimization on the aliasing matrix W, and then inverse transformation is performed on the global optimal solution W, to obtain a preliminary estimate of the source signal. Secondly, the estimated source signal is subjected to CEEMD noise reduction, and after obtaining the modal components of each order, the number of interrelationships is used as a constraint on the modal components, and signal reconstruction is performed. Finally, the signal is subjected to frequency domain feature extraction and bearing fault diagnosis. The experimental results indicate that, the new method successfully captures three fault characteristic frequencies ($1f_i$, $2f_i$, and $3f_i$), with their energy distribution concentrated in the range of 78.9 Hz to 228.7 Hz, indicative of inner race faults. Similarly, when comparing the different results with each other, the denoised source signal spectrum successfully captures the frequencies $1f_o$, $2f_o$, and $3f_o$ and their sideband components, which are characteristic of outer race faults. The sideband components generated in the above spectra are preliminarily judged to be caused by impacts between the fault location and nearby components, resulting in modulated frequency bands where the modulation frequency corresponds to the rotational frequency and its harmonics. Experiments show that the method can effectively diagnose the bearing faults. Full article

Unmanned Aerial Vehicles (UAVs) provide exceptional flexibility, making them ideal for mitigating communication disruptions in disaster-affected or high-demand areas. When functioning as communication base stations, UAVs can adopt either orthogonal or non-orthogonal multiple access schemes. However, traditional Orthogonal Multiple Access (OMA) techniques are constrained by limited user access capacity and system throughput, necessitating the study of non-orthogonal access mechanisms for UAV-assisted communication systems. While much of the research on non-orthogonal multiple access focuses on Non-Orthogonal Multiple Access (NOMA), Rate-Splitting Multiple Access (RSMA), a novel non-orthogonal technique, offers superior throughput performance compared to NOMA. This paper, therefore, investigates the optimization of UAV-assisted downlink communication systems based on RSMA. We first develop a mathematical model of the system and decompose the primary optimization problem into multiple subproblems according to parameter types. To solve these subproblems, we propose an optimization algorithm that combines the Augmented Lagrange Method (ALM) with the Artificial Fish Swarm Algorithm (AFSA). The optimization algorithm is further enhanced by incorporating dynamic step size and visual strategies, as well as memory behaviors to improve convergence speed and optimization accuracy. To address linear equality constraints, we introduce a correction factor to modify the behavior of the artificial fish. The final optimization is achieved through cross-iterative solutions. Simulation results show that the system throughput under the RSMA strategy can be improved by 13.30% compared with NOMA, validating the effectiveness and superiority of RSMA in UAV-assisted communication systems. Full article

Path planning is an intertemporal problem in the robotics industry. Over the years, several algorithms have been proposed to solve it, but weaknesses are constantly identified by researchers, especially in creating an optimal path in a three-dimensional (3D) environment with obstacles. In this paper, a method to reduce the lengths of optimal 3D paths and correct errors in path planning algorithms is proposed. Optimization is achieved by combining the information of a generated two-dimensional (2D) path with the input 3D path. The 2D path is created by a proposed improved artificial fish swarm algorithm (AFSA) that contains several improvements, such as replacing the random behavior of the fish with a proposed one incorporating the model of the 24 possible movement points and utilizing an introduced model to assist the agent’s navigation called obstacles heatmap. Moreover, a simplified ray casting algorithm is integrated with the improved AFSA to further reduce the length of the final path. The improved algorithm effectually managed to find the optimal path in complex environments and significantly reduce the length of the formed path compared with other state-of-the-art methods. The path was implemented in real-world scenarios of drone and industrial robotic arm applications. Full article

With the integration of large-scale wind power clusters into the power system, wind farms play a crucial role in grid reactive power regulation. However, the range of its reactive power remains uncertain, posing challenges in formulating a viable program for regulating reactive power to ensure the safe and cost-effective operation of the power system. Based on this, this paper develops a bi-level reactive power optimization for wind clusters integrating the power grid while considering the reactive capability. Firstly, this paper carries out a refined analysis of the wind power clusters, taking into account the characteristics of different areas to estimate the exact value of the reactive power capability in wind power clusters. Secondly, a bi-level reactive power optimization model is established. The upper-layer optimization aims to minimize active losses and voltage deviation in power system operation, while the lower-layer optimization focuses on maximizing reactive power margin utilization in wind farms. To solve this bi-level optimization model, an improved artificial fish swarm algorithm (AFSA) is employed, which decouples real variables and integer variables to enhance the optimization ability of the algorithm. Finally, the effectiveness of our proposed optimization strategy and algorithm is validated through the simulation results. Full article

In view of the typical requirements of large high-clearance sprayers, such as those operating in poor road conditions for farmland plant protection and at high operation speeds, reducing the vibration of sprayer suspension systems has become a research hotspot. In this study, the hydro-pneumatic suspension (HPS) of large high-clearance sprayers was taken as the object, and a variable universe T-S fuzzy controller with real vehicle vibration data as input was proposed to control suspension motion in real time. Different from traditional semi-active suspension, based on the characteristics of variable universe extension factors, a training method combining the artificial fish swarm algorithm and the back propagation algorithm was used to establish a fuzzy neural network controller with precise input to optimize the variable universe. Then, the time-domain and frequency-domain response characteristics of HPS were analyzed by simulating the special road conditions typical of farmland. Finally, the field performance of the sprayer equipped with the new controller was tested. The results show that the error rate of the AFSA-BP algorithm in training the FNN could be reduced to 3.9%, and compared with a passive suspension system, the T-S fuzzy controller improved the effects of spring mass acceleration, pitch angle acceleration, and roll angle acceleration by 18.3%, 23.3%, and 27.7%, respectively, verifying the effectiveness and engineering practicality of the active controller in this study. Full article

Given the difficulty in manually adjusting the position and posture of the pile body during the pile driving process, the improved Denavit-Hartenberg (D-H) parameter method is used to establish the kinematics equation of the mechanical arm, based on the motion characteristics of each mechanism of the mechanical arm of the pile driver, and forward and inverse kinematics analysis is carried out to solve the equation. The mechanical arm of the pile driver is modeled and simulated using the Robotics Toolbox of MATLAB to verify the proposed kinematics model of the mechanical arm of the pile driver. The Monte Carlo method is used to investigate the working space of the mechanical arm of the pile driver, revealing that the arm can extend from the nearest point by 900 mm to the furthest extension of 1800 mm. The actuator’s lowest point allows for a descent of 1000 mm and an ascent of up to 1500 mm. A novel multi-strategy grey wolf optimizer (GWO) algorithm is proposed for robotic arm three-dimensional (3D) path planning, successfully outperforming the basic GWO, ant colony algorithm (ACA), genetic algorithm (GA), and artificial fish swarm algorithm (AFSA) in simulation experiments. Comparative results show that the proposed algorithm efficiently searches for optimal paths, avoiding obstacles with shorter lengths. In robotic arm simulations, the multi-strategy GWO reduces path length by 16.575% and running time by 9.452% compared to the basic GWO algorithm. Full article

In countries endemic for foot-and-mouth disease (FMD), routine or emergency vaccinations are strategic tools to control the infection. According to the WOAH/FAO guidelines, a prior estimation of vaccine effectiveness is recommendable to optimize control programs. This study reports the results of a small-scale immunogenicity study performed in Transcaucasian Countries. Polyvalent vaccines, including FMDV serotypes O, A (two topotypes) and Asia1 from two different manufacturers, were evaluated in Georgia, Azerbaijan and Armenia. Naïve large and small ruminants were vaccinated once and a subgroup received a second booster dose. The titers of neutralizing antibodies in sera collected sequentially up to 180 DPV were determined through the Virus Neutralization Test versus homologous strains. This study led to the estimate that both the vaccines evaluated will not induce a protective and long-lasting population immunity, even after a second vaccination, stressing that consecutive administrations of both vaccines every three months are mandatory if one aspires to achieve protective herd immunity. Full article

Under human-induced excitations, a floor structure may suffer excessive vibrations due to its large span and low damping ratio. Vertical vibrations, in particular, can become intolerable during resonance events. A tuned mass damper (TMD) is a widely used single-degree-of-freedom dynamic vibration absorber. To enhance the serviceability of a floor structure, a multiple TMD (MTMD) system finds broad application. The parameters of the MTMD must be carefully designed to achieve satisfactory performance. However, existing studies often employ a simplified model of the floor structure with closely spaced modes to optimize the parameters of MTMD. Nonetheless, an oversimplified floor model can lead to a reduction in its control effect. To solve this problem, this study utilizes the OAPI facility of SAP2000 to build a connection with MATLAB. A multi-objective optimization algorithm based on the artificial fish swarm algorithm (AFSA) for MTMD is developed in MATLAB, while the finite element model of a real floor structure is built in SAP2000. The locations of the MTMD system are initially specified in SAP2000 and, through the proposed MATLAB–SAP2000 interface, data can be exchanged between them. Based on the structural dynamic responses to external excitations in SAP2000, the optimization process for the MTMD is carried out in MATLAB. Concurrently, the parameters of the MTMD in SAP2000 are iteratively adjusted until they reach their final optimal values. To underscore the enhancements brought about by the proposed interface and optimization method, a comparative case study is conducted. A group of MTMDs, optimized using a conventional method, is presented for reference. The numerical results indicate that, overall, the proposed MTMD system exhibits superior control effectiveness and robustness. Full article

A well-organized path can assist unmanned aerial vehicles (UAVs) in performing tasks efficiently. The artificial fish swarm algorithm (AFSA) is a widely used intelligent optimization algorithm. However, the traditional AFSA exhibits issues of non-uniform population distribution and susceptibility to local optimization. Despite the numerous AFSA variants introduced in recent years, many of them still grapple with challenges like slow convergence rates. To tackle the UAV path planning problem more effectively, we present an improved AFSA algorithm (IAFSA), which is primarily rooted in the following considerations: (1) The prevailing AFSA variants have not entirely resolved concerns related to population distribution disparities and a predisposition for local optimization. (2) Recognizing the specific demands of the UAV path planning problem, an algorithm that can combine global search capabilities with swift convergence becomes imperative. To evaluate the performance of IAFSA, it was tested on 10 constrained benchmark functions from CEC2020; the effectiveness of the proposed strategy is verified on the UAV 3D path planning problem; and comparative algorithmic experiments of IAFSA are conducted in different maps. The results of the comparison experiments show that IAFSA has high global convergence ability and speed. Full article

This study aims to enable intelligent structural health monitoring of internal damage in aerospace structural components, providing a crucial means of assuring safety and reliability in the aerospace field. To address the limitations and assumptions of traditional monitoring methods, carbon nanotube (CNT) yarn sensors are used as key elements. These sensors are woven with carbon fiber yarns using a three-dimensional six-way braiding process and cured with resin composites. To optimize the sensor configuration, an artificial fish swarm algorithm (AFSA) is introduced, simulating the foraging behavior of fish to determine the best position and number of CNT yarn sensors. Experimental simulations are conducted on 3D braided composites of varying sizes, including penetration hole damage, line damage, and folded wire-mounted damage, to analyze the changes in the resistance data of carbon nanosensors within the damaged material. The results demonstrate that the optimized configuration of CNT yarn sensors based on AFSA is suitable for damage monitoring in 3D woven composites. The experimental positioning errors range from 0.224 to 0.510 mm, with all error values being less than 1 mm, thus achieving minimum sensor coverage for a maximum area. This result not only effectively reduces the cost of the monitoring system, but also improves the accuracy and reliability of the monitoring process. Full article

Background: The present study addresses this research gap by evaluating the impact of boiling in water and microwaving on the bioactivity characteristics of bell peppers at different ripening stages. Methods: The total polyphenols, DPPH, ABTS and FRAP were used for the evaluation of the antioxidant potential qualitatively and quantitatively, and the simple reductive sugar texture and color changes were measured. Results: Microwave heating appears to be a favorable treatment in the case of preservation of most of the antioxidant potential. Green and red bell peppers were more resistant to the treatments, while the yellow stage was the one in which the changes were observed the most. Conclusions: However, the results indicate that from a consumer standpoint, microwave heating treatment is more beneficial for red peppers. In contrast, hot water cooking is more beneficial for green and yellow peppers. Full article