ORIGINAL_ARTICLE
Mobile Robot Online Motion Planning Using Generalized Voronoi Graphs
In this paper, a new online robot motion planner is developed for systematically exploring unknown environÃ‚Â¬ments by intelligent mobile robots in real-time applications. The algorithm takes advantage of sensory data to find an obstacle-free start-to-goal path. It does so by online calculation of the Generalized Voronoi Graph (GVG) of the free space, and utilizing a combination of depth-first and breadth-first searches on the GVG. The planner is equipped with components such as step generation and correction, backtracking, and loop handling. It is fast, simple, complete, and extendable to higher spaces.
http://www.qjie.ir/article_35_ed62a2a80373cce4300066987ef5ee6d.pdf
2010-01-18
1
15
Robot Motion planning
Voronoi Diagrams
Medial Axis, Sensor-based Navigation
elips
masehian
1
Tarbiat Modares University, Industrial Engineering Department, Tehran, Iran
LEAD_AUTHOR
amin
Naseri
2
Tarbiat Modares University, Industrial Engineering Department, Tehran, Iran
AUTHOR
ORIGINAL_ARTICLE
A Simulated Annealing Algorithm for Multi Objective Flexible Job Shop Scheduling with Overlapping in Operations
In this paper, we considered solving approaches to flexible job shop problems. Makespan is not a good evaluation criterion with overlapping in operations assumption. Accordingly, in addition to makespan, we used total machine work loading time and critical machine work loading time as evaluation criteria. As overlapping in operations is a practical assumption in chemical, petrochemical, and glass industries, we used simulated annealing algorithm for multi-objective flexible job shop scheduling problem with overlapping in operations to find a suitable solution. To evaluate performance of the algorithm, we developed a mixed integer linear programming model, and solved it with the classical method (branch and bound). The results showed that in small size problems, the solutions of the proposed algorithm and the mathematical model were so close, and in medium size problems, they only had lower and upper bounds of solution and our proposed algorithm had a suitable solution. We used an experimental design for improving the proposed algorithm.
http://www.qjie.ir/article_36_f698af810f0c50dcc913f9ba78214851.pdf
2010-01-18
17
28
Flexible job shop
Scheduling
Overlapping
Multi-Objective Optimization
simulated annealing
Combinatorial optimization
Mehrzad
Abdi Khalife
1
Islamic Azad University, Qazvin Branch, Department of Industrial Engineering, Qazvin,
AUTHOR
Babak
Abbasi
Abbasi@sharif.edu
2
b Sharif University of Technology, Department of Industrial Engineering, Tehran, Iran
AUTHOR
Amirhossein
Kamali Dolat abadi
3
Islamic Azad University, Qazvin Branch, Department of Industrial Engineering, Qazvin, Iran
LEAD_AUTHOR
ORIGINAL_ARTICLE
Trajectory Optimization of Cable Parallel Manipulators in Point-to-Point Motion
Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-point task in point-to-point motion. Dynamic equations are organized in a closed form and are formulated in the state space form. A computational technique is developed for obtaining optimal trajectory to maximize dynamic load carrying capacity. By solving the corresponding nonlinear TPBVP, the problem of optimal path and maximum carrying for a 6 DOF spatial cable robot is studied. Finally, dynamic modelling in ADAMS is presented and to validate the optimal control method, optimal trajectory concerned with dynamic motion is compared with the software results.
http://www.qjie.ir/article_37_f2dc34974c259ea621866f6c5463e1d7.pdf
2010-01-18
29
34
Optimization
Dynamic modeling
Cable robot
moharam
habib nezhad korayem
1
Iran University of Science and Technology, Robotic Research Laboratory, College of Mechanical Engineering, Tehran, Iran
LEAD_AUTHOR
mehdi
bamdad
2
University of Semnan, Department of Mechanical Engineering, Semnan, Iran
AUTHOR
ashkan
akbareh
3
Iran University of Science and Technology, Robotic Research Laboratory, College of Mechanical Engineering, Tehran, Iran
AUTHOR
ORIGINAL_ARTICLE
Outsourcing or Insourcing of Transportation System Evaluation Using Intelligent Agents Approach
Nowadays, outsourcing is viewed as a trade strategy and organizations tend to adopt new strategies to achieve competitive advantages in the current world of business. focusing on main copmpetencies, and transferring most of activities to outside resources of organization( outsourcing) is one such strategy is. In this paper, we aim to decide on decision maker agent of transportation system, by applying intelligent agent technology and using learning model which is modeled as a reinforcement learning problem. A Q-learning algorithm is proposed to solve the RL model. Results show that the proposed model given its ability to communicate with environment, adaptability with environment and correcting itself based on learnt data ,the prposed model can be applied as a better and quicker learning model in comparison with other ways of solving of decision making problems.
http://www.qjie.ir/article_38_95c6c91ee1cdc3eab06c58bdda19c7ba.pdf
2010-01-18
35
41
Transportation system
Outsourcing
Agent
Reinforcement learning
Pattern x +y
isa
nakhaei kamalabadi
1
Islamic Azad Univercity, Qazvin Branch, Department of Industrial Engineering,Qazvin, Iran
AUTHOR
parham
azimi
p.azimi@yahoo.com
2
Islamic Azad Univercity, Qazvin Branch, Department of Industrial Engineering,Qazvin, Iran
AUTHOR
mohammad
varmaghani
mohammad.varmaghani@yahoo.com
3
Islamic Azad Univercity, Qazvin Branch, Department of Industrial Engineering,Qazvin, Iran
LEAD_AUTHOR
ORIGINAL_ARTICLE
Layout of Cellular Manufacturing System in Dynamic Condition
Cellular manufacturing system (CMS) is highly important in modern manufacturing methods. Given the ever increasing market competition in terms of time and cost of manufacturing, we need models to decrease the cost and time of manufacturing. In this study, CMS is considered in condition of dynamic demand in each period. The model is developed for facing dynamic demand that increases the cost of material flow. This model generates the cells and location facilities at the same time and it can move the machine(s) from one cell to another cell and can generate the new cells for each period. Cell formation is NP-Complete and when this problem is considered in dynamic condition, surly, it is strongly NP- Complete. In this study, genetic algorithm (GA) is used as a meta-heuristic algorithm for solving problems and evaluating the proposed algorithm, Branch and Bound (B & B) is used as a deterministic method for solving problems. Ultimately, the time and final solution of both algorithms are compared.
http://www.qjie.ir/article_39_7fd08632c9927088c76b876732a2183f.pdf
2010-01-18
43
54
Cellular manufacturing system
Genetic Algorithm
Dynamic layout
Branch and Bound
amir hossein
kamali dolatabadi
amir_kamaly2002@yahoo.com
1
Islamic Azad University, Qazvin Branch, Department of Industrial Engineering, Qazvin, Iran
LEAD_AUTHOR
seyed hamid reza
pasandideh
pasandid@yahoo.com
2
Islamic Azad University, Qazvin Branch, Department of Industrial Engineering, Qazvin, Iran
AUTHOR
mehrzad
abdi khalife
3
Islamic Azad University, Qazvin Branch, Department of Industrial Engineering, Qazvin, Iran
AUTHOR
ORIGINAL_ARTICLE
A Multi Objective Optimization Approach for Resources Procurement of Bank
Calculating total cast of bank resources procurement methods which include current -free loan deposit, saving interest-free loan deposit, regular and net short-term investment deposit, long-term investment deposit and surety bond cash deposit and presenting their optimal integration require precise scientific studies. Hence, this study is an attempt to know which methods are the best optimal integration banking resources. Linear and ideal planning techniques are used to find an optimal solution according to existing mathematical models. We use three algorithms to construct mathematical models. In the suggested mathematical models, linear planning has 6 variables and 2 constraints in getting no information algorithm and 6 variables and 7 constraints in getting information algorithm and the problem is solved by WINQSB software. But, 6 variables and 8 constraints are solved by LINGO8 software. The results of the study show that presenting an optimal integration of resources procurement methods by using mathematical models is possible and is applicable with regard to determining rational and suitable constraints and ideals for all resource procurement methods. In addition, with regard to the calculation and investigation of procurement cost in financial procurement methods, it is found out that total cost (i.e. real operational cost plus nonoperational cost) is the basis of judgment for studying resource procurement cost. Further, as with the total cost of resource procurement methods, current interest-free loan deposit and long-term investment deposit are the most expensive methods while surety bond cash deposit is the cheapest resource procurement method and other methods fall in between.
http://www.qjie.ir/article_40_930dac973ec707a479b2589c3aed62a4.pdf
2010-01-18
55
66
goal programming
comprehensive criterion technique
lexicography banking deposits (sight, unsight and other deposits)
banking resource procurement cost
banking resource optimal integration
amir
mohammad-zadeh
1
Islamic Azad University,Qazvin Brach, Department of Management & Accounting, Qazvin, Iran
AUTHOR
naser
hamidi
2
Islamic Azad University,Qazvin Brach, Department of Management & Accounting, Qazvin, Iran
AUTHOR
mohammad amin
nayebi
m.a.nayebi@qiau.ac.ir
3
Islamic Azad University,Qazvin Brach, Department of Management & Accounting, Qazvin, Iran
LEAD_AUTHOR
yusof
ebrahimi-sajas
4
Islamic Azad University,Qazvin Brach, Department of Management & Accounting, Qazvin, Iran
AUTHOR
ORIGINAL_ARTICLE
Two-stage Production Systems under Variable Returns to Scale Technology: A DEA Approach
Data envelopment analysis (DEA) is a non-parametric approach for performance analysis of decision making units (DMUs) which uses a set of inputs to produce a set of outputs without the need to consider internal operations of each unit. In recent years, there have been various studies dealt with two-stage production systems, i.e. systems which consume some inputs in their first stage to produce some intermediate outputs which are used as the inputs of the second stage in producing final outputs. One of these researches done by Kao and Hwang (2008) gives a decomposition of system efficiency score based on the efficiency of its sub-processes in the case of constant returns to scale (CRS) technology. This paper presents an extension of this approach for the technologies with variable returns to scale (VRS) and explains the results.
http://www.qjie.ir/article_41_344760f689efb0c298de1bc3a26c7670.pdf
2010-01-18
67
71
Data envelopment analysis
two-stage systems
constant returns to scale
variable returns to scale
roza
azizi
1
Islamic Azad University, Karaj Branch, Department of Mathematics, Karaj, Iran
AUTHOR
reza
kazemi matin
ekmatin@kiau.ac.ir
2
Islamic Azad University, Karaj Branch, Department of Mathematics, Karaj, Iran
LEAD_AUTHOR
ORIGINAL_ARTICLE
Maximal Benefit Location Problem for A Congested System
Some servers are to be located at nodes of a network. Demand for services of these servers is located at each node and a subset of the nodes is to be chosen to locate one server in each. Each customer selects a server with a probability dependent on distance and a certain amount of benefit is achieved after giving service to the customer. Customers may waive receiving service with a known probability. The objective is to maximize the total benefit. In this paper, the problem is formulated, three solution algorithms are developed and applied to some numerical examples to analyze the results.
http://www.qjie.ir/article_42_7938d7a0eeb13f61db6510dd9e75d0d5.pdf
2010-01-18
73
83
Location
Congested
Maximal Benefit
Network
Poisson
reza
rabieyan
1
Islamic Azad University,Qazvin Branch, Department of Industrial Engineering, Qazvin, Iran
AUTHOR
mehdi
seifbarghy
seifbar@yahoo.com
2
Islamic Azad University,Qazvin Branch, Department of Industrial Engineering, Qazvin, Iran
LEAD_AUTHOR