Cart (Loading....) | Create Account
Close category search window

FPGA-Based Parallel DNA Algorithm for Optimal Configurations of an Omnidirectional Mobile Service Robot Performing Fire Extinguishment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Ching-Chih Tsai ; Dept. of Electr. Eng., Nat. Chung-Hsing Univ., Taichung, Taiwan ; Hsu-Chih Huang ; Shui-Chun Lin

This paper presents a coarse-grain parallel deoxyribonucleic acid (PDNA) algorithm for optimal configurations of an omnidirectional mobile robot with a five-link robotic arm. This efficient coarse-grain PDNA is proposed to search for the global optimum of the redundant inverse kinematics problem with minimal movement, thereby showing better population diversity and avoiding premature convergence. Moreover, the pipelined hardware implementation, hardware/software co-design, and System-on-a-Programmable-Chip (SoPC) technology on a field-programmable gate array (FPGA) chip are employed to realize the proposed PDNA in order to significantly shorten its processing time. Simulations and experimental results are conducted to illustrate the merit and superiority of the proposed FPGA-based PDNA algorithm in comparison with conventional genetic algorithms (GAs) for omnidirectional mobile robot performing fire extinguishment.

Published in:

Industrial Electronics, IEEE Transactions on  (Volume:58 ,  Issue: 3 )

Date of Publication:

March 2011

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.