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Hardware Particle Swarm Optimization with passive congregation for embedded applications

Hardware Particle Swarm Optimization with passive congregati...

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Southern Conference on programmable Logic

作者： Muñoz, Daniel M. Llanos, Carlos H. Coelho, Leandro Dos S. Ayala-Rincón, Mauricio Department of Mechanical Engineering Automation and Control Group/GRACO University of Brasilia Brasilia D.F. Brazil Industrial and Systems Engineering Graduate Program Pontifical Catholic University of Parana Curitiba Parana Brazil Department of Computer Science and Mathematics University of Brasilia Brasilia D.F. Brazil

ISBN: (纸本)9781424488483

Achieving high performance optimization algorithms for embedded applications can be very challenging, particularly when several requirements such as high accuracy computations, short elapsed time, area cost, low power consumption and portability must be accomplished. This paper proposes a hardware implementation of the Particle Swarm Optimization algorithm with passive congregation (HPPSOpc), which was developed using several floating-point arithmetic libraries. The passive congregation is a biological behavior which allows the swarm to preserve its integrity, balancing between global and local search. The HPPSOpc architecture was implemented on a Virtex5 FPGA device and validated using two multimodal benchmark problems. Synthesis, simulation and execution time results demonstrates that the passive congregation approach is a low cost solution for solving embedded optimization problems with a high performance. © 2011 IEEE.

关键词： Digital arithmetic

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Opposition-based shuffled PSO with passive congregation applied to FM matching synthesis

Opposition-based shuffled PSO with passive congregation appl...

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IEEE Congress on Evolutionary Computation

作者： Munoz, Daniel M. Llanos, Carlos H. Dos S. Coelho, Leandro Ayala-Rincon, Mauricio Department of Mechanical Engineering Automation and Control Group/GRACO University of Brasilia Brasilia D.F. Brazil Industrial and Systems Engineering Graduate Program LAS/PPGEPS Pontifical Catholic University of Parana Curitiba Parana Brazil Department of Computer Science and Mathematics University of Brasilia Brasilia D.F. Brazil

ISBN: (纸本)9781424478347

Synthesis of musical instruments or human voice is a time consuming process which requires theoretical and experimental knowledge about the synthesis engine. Commonly, performers need to deal with synthesizer interfaces and a process of trial and error for creating musical sounds similar to a target sound. This drawback can be overcome by adjusting automatically the synthesizer parameters using optimization algorithms. In this paper a hybrid particle swarm optimization (PSO) algorithm is proposed to solve the frequency modulation (FM) matching synthesis problem. The proposed algorithm takes advantage of a shuffle process for exchanging information between particles and applies the selective passive congregation and the opposition-based learning approaches to preserve swarm diversity. Both approaches for injecting diversity are based on simple operators, preserving the easy implementation philosophy of the particle swarm optimization. The proposed hybrid particle swarm optimization algorithm was validated for a three-nested FM synthesizer, which represents a 6-dimensional multimodal optimization problem with strong epistasis. Simulation results revealed that the proposed algorithm presented promising results in terms of quality of solutions. © 2011 IEEE.

关键词： Global optimization

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Hardware Particle Swarm Optimization with passive congregation for embedded applications

Hardware Particle Swarm Optimization with passive congregati...

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Southern Conference on programmable Logic

作者： Daniel M. Muñoz Carlos H. Llanos Leandro dos S. Coelho Mauricio Ayala-Rincón Department of Mechanical Engineering Automation and Control Group/GRACO University of Brasilia Brazil Industrial and Systems Engineering Graduate Program LAS/PPGPES Pontifical Catholic University of Paraná Curitiba Parana Brazil Department of Computer Science and Mathematics University of Brasilia Brazil

关键词： Hardware Computer architecture Software Field programmable gate arrays Benchmark testing Optimization Software algorithms

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Opposition-based shuffled PSO with passive congregation applied to FM matching synthesis

Opposition-based shuffled PSO with passive congregation appl...

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Congress on Evolutionary Computation

作者： Daniel M. Muñoz Carlos H. Llanos Leandro dos S. Coelho Mauricio Ayala-Rincón Department of Mechanical Engineering Automation and Control Group/GRACO University of Brasilia Brasilia Brazil Industrial and Systems Engineering Graduate Program LAS/PPGEPS Pontifical Catholic University of Paraná Curitiba Parana Brazil Department of Computer Science and Mathematics University of Brasilia Brasilia Brazil

关键词： Frequency modulation Optimization Equations Convergence Particle swarm optimization Genetic algorithms

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A technological platform for the teaching of control engineering

A technological platform for the teaching of control enginee...

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2010 IEEE Education engineering Conference, EDUCON 2010

作者： Carvalho, Adelson S. Barone, Dante Zaro, Milton Graduate Program in Computer Science in Education Universidade Federal do Rio Grande do Sul Porto Alegre-RS Brazil Control Engineering and Automation Superior Course Instituto Federal Fluminense Campos Dos Goytacazes-RJ Brazil

ISBN: (纸本)9781424465682

This paper presents a technology platform as a resource for the teaching of control engineering. The platform in question combines the educational potential of software of design and simulation of control systems - MATLAB ® - and the connection between this software and a pilot distillation column. The research hypothesis is that the use of technology platforms such as this helps to develop aspects not only stimulated with simulation. Therefore, an experiment based on the constructivist and social-interactionist theory has been designed to detect student development and to capture their impressions of the platform. The results are presented as graphs and impression reports of the teacher. © 2010 IEEE.

关键词： Teaching

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Hardware particle swarm optimization based on the attractive-repulsive scheme for embedded applications

Hardware particle swarm optimization based on the attractive...

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2010 International Conference on Reconfigurable Computing and FPGAs, ReConFig 2010

作者： Muñoz, Daniel M. Llanos, Carlos H. Dos S. Coelho, Leandro Ayala-Rincón, Mauricio Department of Mechanical Engineering Automation and Control Group/GRACO University of Brasilia Brasilia DF Brazil Industrial and Systems Engineering Graduate Program LAS/PPGPES Pontifical Catholic University of Parana Curitiba Parana Brazil Department of Computer Science and Mathematics University of Brasilia Brasilia DF Brazil

ISBN: (纸本)9780769543147

Particle Swarm Optimization (PSO) algorithms have been proposed to solve engineering problems that require to find an optimal point of operation. However, the PSO algorithm suffers from premature convergence and high elapsed time when solving multimodal and large scale engineering problems. This problem becomes an evident drawback for embedded applications in which the microcontrollers often operates at low computational capacity. This paper proposes a hardware implementation of a parallel self-adaptive PSO algorithm based on an attractive-repulsive scheme and using the efficient floating-point arithmetic which performs computations with large dynamic range and high precision. The parallel capabilities of the PSO are exploited by implementing parallel particles directly in hardware in order to decrease the running time. In addition, the attractive-repulsive technique avoids the premature convergence problem by self-adapting the swarm behavior according to its diversity. Synthesis and simulation results for benchmark test problems were performed, demonstrating the correctness of the proposed architectures. Finally, an elapsed time comparison between the hardware and software implementations shows the suitableness of the proposed architecture for embedded applications. © 2010 IEEE.

关键词： Global optimization

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Accelerating the Shuffled Frog Leaping algorithm by parallel implementations in FPGAs

Accelerating the Shuffled Frog Leaping algorithm by parallel...

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2010 IEEE 5th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2010

作者： Muñoz, Daniel M. Llanos, Carlos H. Dos S. Coelho, Leandro Ayala-Rincón, Mauricio Department of Mechanical Engineering Automation and Control Group/GRACG University of Brasilia Brasilia D.F. Brazil Industrial and Systems Engineering Graduate Program Pontifical Catholic University of Parana Curitiba Parana Brazil Department of Computer Science and Mathematics University of Brasilia Brasilia D.F. Brazil

ISBN: (纸本)9781424464388

Meta-heuristics are efficient techniques for solving large scale optimization problems in which traditional mathematical techniques are impractical or provide sub-optimal solutions. The Shuffled Frog Leaping algorithm (SFLA) is a stochastic iterative method, bio-inspired on the memetic evolution of a group of frogs when seeking for food, which combines the social behavior-based of the particle swarm optimization technique (PSO) and the global information exchange of memetic algorithms. However, the SFLA algorithm suffers on large execution times, being this problem clearly evident when solving complex optimization problems for embedded applications. This drawback can be overcome by exploiting the parallel capabilities of the SFLA. This paper proposes a hardware parallel implementation of the SFLA algorithm (HPSFLA) using FPGAs (Field programmable gate Arrays) and the efficient floating-point arithmetic. The proposed architecture allows the SFLA to improve the functionality of the algorithm as well as to decrease the execution times by implementing parallel frogs and parallel memeplexes. Three well-known benchmark problems have been used to validate the implemented algorithm and simulation results demonstrate that the HPSFLA speeds-up by factors of 362, 727 and 211 a C-code implementation using an embedded microprocessor for the Sphere, Rastrigin and Rosenbrock benchmarks problems, respectively. Synthesis, simulation and execution time results demonstrate the effectiveness of the proposed HPSFLA architecture for embedded optimization systems. © 2010 IEEE.

关键词： Global optimization

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Comparison between two FPGA implementations of the particle swarm optimization algorithm for high-performance embedded applications

Comparison between two FPGA implementations of the particle ...

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2010 IEEE 5th International Conference on Bio-Inspired Computing: Theories and Applications, BIC-TA 2010

作者： Muñoz, Daniel M. Llanos, Carlos H. Dos S. Coelho, Leandro Ayala-Rincón, Mauricio Department of Mechanical Engineering Automation and Control Group/GRACO University of Brasilia Brasilia D.F. Brazil Industrial and Systems Engineering Graduate Program LAS/PPGPES Pontifical Catholic University of Parana Curitiba Parana Brazil Department of Computer Science and Mathematics University of Brasilia Brasilia D.F. Brazil

ISBN: (纸本)9781424464388

Particle Swarm Optimization (PSO) algorithms have been proposed to solve engineering problems that require to find an optimal point of operation. There are several embedded applications which requires to solve online optimization problems with a high performance. However, the PSO suffers on large execution times, and this fact becomes evident when using Reduced Instruction Set Computer (RISC) microprocessors in which the operational frequencies are low in comparison with the high operational frequencies of traditional personal computers (PCs). This paper compares two hardware implementations of the parallel PSO algorithm using an efficient floating-point arithmetic which perform computations with large dynamic range and high precision. The full-parallel and the partially-parallel PSO architectures allow the parallel capabilities of the PSO to be exploited in order to decrease the running time. Three well-known benchmark test functions have been used to validate the hardware architectures and a comparison in terms of cost in logic area, quality of the solution and performance is reported. In addition, a comparison of the execution time between the hardware and two C-code software implementations, based on a Intel Core Duo at 1.6GHz and a embedded Microblaze microprocessor at 50MHz, are presented. © 2010 IEEE.

关键词： Global optimization

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Embedding obstacle avoidance in the control of a flexible multi-robot formation

Embedding obstacle avoidance in the control of a flexible mu...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： V. T. L. Rampinelli A. S. Brandão M. Sarcinelli-Filho F. N. Martinsy R. Carelliz Graduate Program on Electrical Engineering Federal University of Espírito Santo Vitória ES Brazil Department of Automation and Control Engineering Centro Leste College Serra ES Brazil Universidad Nacional de San Juan San Juan AR

This work proposes a way to make a group of mobile robots which are navigating as a formation to avoid obstacles in their paths. A trajectory tracking controller is proposed to guide the robots during the navigation, to which an obstacle deviation subsystem is added. Such subsystem is implemented in each robot in the formation, whereas the proposed controller is applicable to subsets of three robots. The obstacle deviation is based on virtual forces, which are considered to change the velocities of the individual robots. A proof of the stability of the control system implemented with the proposed controller, including control signal saturation to avoid the saturation of the actuators, is presented, based on the theory of Lyapunov. Simulated and experimental results are also presented, which validate the proposal.

关键词： Robot kinematics Robot sensing systems Collision avoidance Shape Navigation Trajectory

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Nonlinear System Identification Based on B-Spline Neural Network and Modified Particle Swarm Optimization

Nonlinear System Identification Based on B-Spline Neural Net...

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International Joint Conference on Neural Networks (IJCNN)

作者： L. dos Santos Coelho R.A. Krohling Production and Systems Engineering Graduate Program Automation and Systems Laboratory PPGEPS/CCET/PUCPR Pontifical Catholic University of Paraná Parana Brazil Chair for Control Systems Engineering RST Faculty of Electrical Engineering and Information Technology University of Dortmund Dortmund Germany

Artificial neural networks, in particular, feedforward multilayer networks and basis function networks, have gradually established themselves as a usual tool in approximating complex nonlinear systems. B-spline networks, a type of basis function neural network, are normally trained by gradient-based methods, which may fall into local minima during the learning phase. In order to overcome the drawbacks encountered by conventional learning methods, particle swarm optimization - a swarm intelligence methodology - can provide a stochastic global search of B-spline networks for nonlinear system identification. In this paper, a modified particle swarm optimization algorithm using Gaussian and Cauchy probability distributions are applied to adjust the control points of B-spline neural networks. Simulation results for the identification of Rossler systems are provided and demonstrate the effectiveness and robustness of the proposed identification scheme.

关键词： Nonlinear systems Spline Neural networks Particle swarm optimization Artificial neural networks Multi-layer neural network Learning systems Stochastic systems Probability distribution Robustness

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