Abstract: This paper presents the trajectory tracking control of a
spatial redundant hybrid manipulator. This manipulator consists of
two parallel manipulators which are a variable geometry truss (VGT)
module. In fact, each VGT module with 3-degress of freedom (DOF)
is a planar parallel manipulator and their operational planes of these
VGT modules are arranged to be orthogonal to each other. Also, the
manipulator contains a twist motion part attached to the top of the
second VGT module to supply the missing orientation of the endeffector.
These three modules constitute totally 7-DOF hybrid
(parallel-parallel) redundant spatial manipulator. The forward
kinematics equations of this manipulator are obtained, then,
according to these equations, the inverse kinematics is solved based
on an optimization with the joint limit avoidance. The dynamic
equations are formed by using virtual work method. In order to test
the performance of the redundant manipulator and the controllers
presented, two different desired trajectories are followed by using the
computed force control method and a switching control method. The
switching control method is combined with the computed force
control method and genetic algorithm. In the switching control
method, the genetic algorithm is only used for fine tuning in the
compensation of the trajectory tracking errors.
Abstract: In this paper genetic based test data compression is
targeted for improving the compression ratio and for reducing the
computation time. The genetic algorithm is based on extended pattern
run-length coding. The test set contains a large number of X value
that can be effectively exploited to improve the test data
compression. In this coding method, a reference pattern is set and its
compatibility is checked. For this process, a genetic algorithm is
proposed to reduce the computation time of encoding algorithm. This
coding technique encodes the 2n compatible pattern or the inversely
compatible pattern into a single test data segment or multiple test data
segment. The experimental result shows that the compression ratio
and computation time is reduced.
Abstract: Fuzzy systems have been successfully used for
exchange rate forecasting. However, fuzzy system is very confusing
and complex to be designed by an expert, as there is a large set of
parameters (fuzzy knowledge base) that must be selected, it is not a
simple task to select the appropriate fuzzy knowledge base for an
exchange rate forecasting. The researchers often look the effect of
fuzzy knowledge base on the performances of fuzzy system
forecasting. This paper proposes a genetic fuzzy predictor to forecast
the future value of daily US Dollar/Euro exchange rate time’s series.
A range of methodologies based on a set of fuzzy predictor’s which
allow the forecasting of the same time series, but with a different
fuzzy partition. Each fuzzy predictor is built from two stages, where
each stage is performed by a real genetic algorithm.