Gripping devices for harvesting fruits have such types of work as cutting, tearing and unscrewing. For apples, it is preferable to use slicing or unscrewing, while the fruit leg should not remain, damaging the apple during storage. In this article, we are developing a grab for harvesting apples. The gripper is used both for holding the fruit and for jamming, followed by unscrewing. One of the advantages is that the proposed method of collecting apples allows you not to waste time moving the manipulator from the tree to the basket, but only to grab and tear them off. The fruit enters the gripper device; after which it enters the fruit collection container through a rigid or flexible pipe. The gripper device is built on the basis of a ball-screw transmission, which is supplemented by a gear drive along the helical surface. This allows for rotation and rectilinear movement of the held fruit. The gripping device has a ratchet mechanism that allows you to fix the fruit. A mathematical model of the gripper device has been developed, which allows determining the torque of the engine depending on the position of the fingers. The parameters of the mechanism were optimized using a genetic algorithm, and the results are presented in the form of a Pareto set. A 3D model of the gripper device has been built and a layout has been developed using 3D printing. Experimental laboratory and field tests of the gripping device were carried out.

This paper deals with the optimization of a new redundant spherical parallel manipulator (New SPM). This manipulator consists of two spherical five-bar mechanisms connected by the end-effector, providing three degrees of freedom, and has an unlimited self-rotation capability. Three optimization procedures based on the genetic algorithm method were carried out to improve the dexterity of the New SPM. The first and the second optimizations were applied to a symmetric New SPM structure, while the third was applied to an asymmetric New SPM structure. In both cases, the optimization was performed using an objective function defined by the quadratic sum of link angles. In addition, certain criteria and constraints were implemented. The obtained results demonstrate significant improvements in the dexterity of the New SPM and its capability of an unlimited self-rotate in an extended workspace. A comparison of the self-rotation performances between the classical 3-RRR SPM (R for revolute joint) and the New SPM is also presented.

In various industrial robotic applications, the effective traversal of a manipulator amidst obstacles and its ability to reach specific task-points are imperative for the execution of predefined tasks. In certain scenarios, the sequence in which the manipulator reaches these task-points significantly impacts the overall cycle time required for task completion. Moreover, some tasks necessitate significant force exertion at the end-effector. Therefore, establishing an optimal sequence for the task-points reached by the end-effector’s tip is crucial for enhancing robot performance, ensuring collision-free motion and maintaining high-force application at the end-effector’s tip.

To maximize the manipulator’s manipulability, which serves as a performance index for assessing its force capability, we aim to establish an optimal collision-free task sequence considering higher mechanical advantage. Three optimization criteria are considered: the cycle time, collision avoidance and the manipulability index. Optimization is accomplished using a genetic algorithm coupled with the Bump-Surface concept for collision avoidance. The effectiveness of this approach is confirmed through simulation experiments conducted in 2D and 3D environments with obstacles employing both redundant and non-redundant robots.

Coverage path planning (CPP) is a subfield of path planning problems in which free areas of a given domain must be visited by a robot at least once while avoiding obstacles. In some situations, the path may be optimized for one or more criteria such as total distance traveled, number of turns, and total area covered by the robot. Accordingly, the CPP problem has been formulated as a multi-objective optimization (MOO) problem, which turns out to be a challenging discrete optimization problem, hence conventional MOO algorithms like Non-dominated Sorting Genetic Algorithm-2 (NSGA-II) do not work as it is. This study implements a modified NSGA-II to solve the MOO problem of CPP for a mobile robot. In this paper, the proposed method adopted two objective functions: (1) the total distance traveled by the robot and (2) the number of turns taken by the robot. The two objective functions are used to calculate energy consumption. The proposed method is compared to the hybrid genetic algorithm (HGA) and the traditional genetic algorithm (TGA) in a rectilinear environment containing obstacles of various complex shapes. In addition, the results of the proposed algorithm are compared to those generated by HGA, TGA, oriented rectilinear decomposition, and spatial cell diffusion and family of spanning tree coverage in existing research papers. The results of all comparisons indicate that the proposed algorithm outperformed the existing algorithms by reducing energy consumption by 5 to 60%. This paper provides the facility to operate the robot in different modes.

People rely extensively on online social networks (OSNs) in Africa, which aroused cyber attackers’ attention for various nefarious actions. This global trend has not spared African online communities, where the proliferation of OSNs has provided new opportunities and challenges. In Africa, as in many other regions, a burgeoning black-market industry has emerged, specializing in the creation and sale of fake accounts to serve various purposes, both malicious and deceptive. This paper aims to build a set of machine-learning models through feature selection algorithms to predict the fake account, increase performance, and reduce costs. The suggested approach is based on input data made up of features that describe the profiles being investigated. Our findings offer a thorough comparison of various algorithms. Furthermore, compared to machine learning without feature selection and Boruta, machine learning employing the suggested genetic algorithm-based feature selection offers a clear runtime advantage. The final prediction model achieves AUC values between 90% and 99.6%. The findings showed that the model based on the features chosen by the GA algorithm provides a reasonable prediction quality with a small number of input variables, less than 31% of the entire feature space, and therefore permits the accurate separation of fake from real users. Our results demonstrate exceptional predictive accuracy with a significant reduction in input variables using the genetic algorithm, reaffirming the effectiveness of our approach.

In this paper, a new method based on a genetic algorithm and Minkowski Island fractal is proposed for multiband antennas. Three-antenna configurations are chosen to validate the proposed optimization procedure. The first configuration is a wide-band antenna, operating in the WLAN (wireless local area network) UNII-2C band. The second configuration is a dual-band antenna, operating in the WLAN UNII-2 and UNII-2C bands. In contrast, the third is a tri-band antenna operating in the UNII-2, UNII-2C, and UNII-3 bands. The optimization process is accelerated by using the Computer Simulation Technology (CST) Application Programming Interface which allows all genetic operators to be performed in MATLAB while the numerical calculations are running in the internal CST Finite-Difference Time-Domain -solver using parallel computing with GPU acceleration. All three designed configurations are manufactured using a $\textstyle0.8\;\text{mm}$ thick FR4 epoxy substrate with a relative dielectric constant of $4.8$. The return loss and the radiation pattern’s measurements agree well with the simulation results. Further, the methodology presented can be very effective in terms of size reduction; the designed antennas are $24 \times 24 \times 0.8\;{\textrm{m}}{{\textrm{m}}^3}$ ($460\;{\textrm{m}}{{\textrm{m}}^3}$).

This study addresses orbit design and optimisation for the situation of satellite interception in which the target spacecraft is capable of manoeuvring using continuous magnitude restricted thrust. For the purpose of designing a long-range continuous thrust interception orbit, the orbit motion equations of two satellites with J2 perturbation are constructed. This problem is assumed to be a typical pursuit-evasion problem in differential game theory; using boundary constraint conditions and a performance index function that includes time and fuel consumption, the saddle point solution corresponding to the bilateral optimal is derived, and then this pursuit-evasion problem is transformed into a two-point boundary value problem. A hybrid optimisation method using a genetic algorithm (GA) and sequential quadratic programming (SQP) is derived to obtain the optimal control strategy. The proposed model and algorithm are proved to be feasible for the given simulation cases.

Through-wall imaging is capable of detecting various living and non-living things behind the wall. The characteristics of the wall under the investigation, amount of clutter and noise govern the quality and reliability of the image as well as the detection ability of the targets using through the wall imaging system. The characteristics of the wall are not known prior, in the literature only the intensity profile is investigated for the unknown wall characteristics using a single dielectric target and the effect of the wall characteristics on the contrast imaging and impact on time or frequency domain features are not investigated. The target with less dielectric is having less reflectivity; hence its detection in the presence of a high reflective target and a noisy environment becomes difficult. In this paper, to enhance the detection ability of the imaging system attenuation constant (α) of the wall is estimated with the proposed wall parameter estimation methods and used as a normalizing factor. To achieve effective beamforming different weighting strategies are developed and the obtained images are compared with the traditional beamforming. Furthermore, a novel approach to finding the effective rank in the low-rank estimation using a statistical model and multi-objective genetic algorithm is proposed for de-noising.

The optimization of laser pulse shapes is of great importance and a major challenge for laser direct-drive implosions. In this paper, we propose an efficient intelligent method to perform laser pulse optimization via hydrodynamic simulations guided by the genetic algorithm and random forest algorithm. Compared to manual optimizations, the machine-learning guided method is able to efficiently improve the areal density by a factor of 63% and reduce the in-flight-aspect ratio by a factor of 30% at the same time. A relationship between the maximum areal density and ion temperature is also achieved by the analysis of the big simulation dataset. This design method has been successfully demonstrated by the 2021 summer double-cone ignition experiments conducted at the SG-II upgrade laser facility and has great prospects for the design of other inertial fusion experiments.

Due to less light scattering and a better signal-to-noise ratio in deep imaging, two-photon fluorescence microscopy (TPFM) has been widely used in biomedical photonics since its advent. However, optical aberrations degrade the performance of TPFM in terms of the signal intensity and the imaging depth and therefore restrict its application. Here, we introduce adaptive optics based on the genetic algorithm to detect the distorted wavefront of the excitation laser beam and then perform aberration correction to optimize the performance of TPFM. By using a spatial light modulator as the wavefront controller, the correction phase is obtained through a signal feedback loop and a process of natural selection. The experimental results show that the signal intensity and imaging depth of TPFM are improved after aberration correction. Finally, the method was applied to two-photon fluorescence lifetime imaging, which helps to improve the signal-to-noise ratio and the accuracy of lifetime analysis. Furthermore, the method can also be implemented in other experiments, such as three-photon microscopy, light-sheet microscopy, and super-resolution microscopy.

This paper proposes an intelligent cooperative collision avoidance approach combining the enhanced potential field (EPF) with a fuzzy inference system (FIS) to resolve local minima and goal non-reachable with obstacles nearby issues and provide a near-optimal collision-free trajectory. A genetic algorithm is utilized to optimize parameters of membership function and rule base of the FISs. This work uses a single scenario containing all issues and interactions among unmanned aerial vehicles (UAVs) for training. For validating the performance, two scenarios containing obstacles with different shapes and several UAVs in small airspace are considered. Multiple simulation results show that the proposed approach outperforms the conventional EPF approach statistically.

An efficient general arrangement is a cornerstone of a good ship design. A big part of the whole general arrangement process is finding an optimized compartment layout. This task is especially tricky since the multiple needs are often conflicting, and it becomes a serious challenge for the ship designers. To aid the ship designers, improved and reliable statistical and computation methods have come to the fore. Genetic algorithms are one of the most widely used methods. Islier's algorithm for the multi-facility layout problem and an improved genetic algorithm for the ship layout design problem are discussed. A new, hybrid genetic algorithm incorporating local search technique to further the improved genetic algorithm's practicality is proposed. Further comparisons are drawn between these algorithms based on a test case layout. Finally, the developed hybrid algorithm is implemented on a section of an actual ship, and the findings are presented.

This study investigates a new aircraft flight trajectory optimisation method, derived from the Non-dominated Sorting Genetic Algorithm II method used for multi-objective optimisations. The new method determines, in parallel, a set of optimal flight plan solutions for a flight. Each solution is optimal (requires minimum fuel) for a Required Time of Arrival constraint from a set of candidate time constraints selected for the final waypoint of the flight section under optimisation. The set of candidate time constraints is chosen so that their bounds are contiguous, i.e. they completely cover a selected time domain. The proposed flight trajectory optimisation method may be applied in future operational paradigms, such as Trajectory-Based Operations/free flight, where aircraft do not need to follow predetermined routes. The intended application of the proposed method is to support Decision Makers in the planning phase when there is a time constraint or a preferred crossing time at the final point of the flight section under optimisation. The Decision Makers can select, from the set of optimal flight plans, the one that best fits their criteria (minimum fuel burn or observes a selected time constraint). If the Air Traffic Management system rejects the flight plan, then they can choose the next best solution from the set without having to perform another optimisation. The method applies for optimisations performed on lateral and/or vertical flight plan components. Seven proposed method variants were evaluated, and ten test runs were performed for each variant. For five variants, the worst results yielded a fuel burn less than 90kg (0.14%) over the ‘global’ optimum. The worst variant yielded a maximum of 321kg (0.56%) over the ‘global’ optimum.

In this paper, a new method is proposed to find a feasible energy-efficient path between an initial point and goal point on uneven terrain and then to optimally traverse the path. The path is planned by integrating the geometric features of the uneven terrain and the biped robot dynamics. This integrated information of biped dynamics and associated cost (energy) for moving toward the goal point is used to define the value of a new speed function at each point on the discretized surface of the terrain. The value is stored as a matrix called the dynamic transport cost (DTC). The path is obtained by solving the Eikonal equation numerically by fast marching method (FMM) on an orthogonal grid, by using the information stored in the DTC matrix. One step of walk on uneven terrain is characterized by 10 footstep parameters (FSPs); these FSPs represent the position of swinging foot at the starting and ending time of the walk, orientation, and state (left or right) of support foot. A walking dataset was created for different walking conditions (FSPs), which the biped robot is likely to encounter when it has to walk on the uneven terrain. The corresponding energy optimal hip and foot trajectory parameters (HFTPs) are obtained by optimization using a genetic algorithm (GA). The created walk dataset is generalized by training a feedforward neural network (NN) using the scaled conjugate gradient (SCG) algorithm. The Foot placement planner gives a sequence of foot positions and orientations along the obtained path, which is followed by the biped robot by generating real-time optimal foot and hip trajectories using the learned NN. Simulation results on different types of uneven terrains validate the proposed method.

This paper presents a new flight trajectory optimisation method, based on genetic algorithms, where the selected optimisation criterion is the minimisation of the total cost. The candidate flight trajectories evaluated in the optimisation process are defined as flight plans with two components: a lateral flight plan (the set of geographic points that define the flight trajectory track segments) and a vertical flight plan (the set of data that define the altitude and speed profiles, as well as the points where the altitude and/or speed changes occur). The lateral components of the candidate flight plans are constructed by selecting a set of adjacent nodes from a routing grid. The routing grid nodes are generated based on the orthodromic route between the flight trajectory’s initial and final points, a selected maximum lateral deviation from the orthodromic route and a selected grid node step size along and across the orthodromic route. Two strategies are investigated to handle invalid flight plans (relative to the aircraft’s flight envelope) and to compute their flight performance parameters. A first strategy is to assign a large penalty total cost to invalid flight profiles. The second strategy is to adjust the invalid flight plan parameters (altitude and/or speed) to the nearest limit of the flight envelope, with priority being given to maintaining the planned altitude. The tests performed in this study show that the second strategy is computationally expensive (requiring more than twice the execution time relative to the first strategy) and yields less optimal solutions. The performance of the optimal profiles identified by the proposed optimisation method, using the two strategies regarding invalid flight profile performance evaluation, were compared with the performance data of a reference flight profile, using identical input data: initial aircraft weight, initial and final aircraft geographic positions, altitudes and speed, cost index, and atmospheric data. The initial and final aircraft geographic positions, and the reference flight profile data, were retrieved from the FlightAware web site. This data corresponds to a real flight performed with the aircraft model used in this study. Tests were performed for six Cost Index values. Given the randomness of the genetic algorithms, the convergence to a global optimal solution is not guaranteed (the solution may be non-optimal or a local optima). For a better evaluation of the performance of the proposed method, ten test runs were performed for each Cost Index value. The total cost reduction for the optimal flight plans obtained using the proposed method, relative to the reference flight plan, was between 0.822% and 3.042% for the cases when the invalid flight profiles were corrected, and between 1.598% and 3.97% for the cases where the invalid profiles were assigned a penalty total cost.

In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.