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This paper aims to present an optimization algorithm combined with the impedance control strategy to optimize the robotic dual peg-in-hole assembly task, and to reduce the…
This paper aims to present an optimization algorithm combined with the impedance control strategy to optimize the robotic dual peg-in-hole assembly task, and to reduce the assembly time and smooth the contact forces during assembly process with a small number of experiments.
Support vector regression is used to predict the fitness of genes in evolutionary algorithm, which can reduce the number of real-world experiments. The control parameters of the impedance control strategy are defined as genes, and the assembly time is defined as the fitness of genes to evaluate the performance of the selected parameters.
The learning-based evolutionary algorithm is proposed to optimize the dual peg-in-hole assembly process only requiring little prior knowledge instead of modeling for the complex contact states. A virtual simulation and real-world experiments are implemented to demonstrate the effectiveness of the proposed algorithm.
The proposed algorithm is quite useful for the real-world industrial applications, especially the scenarios only allowing a small number of trials.
The paper provides a new solution for applying optimization techniques in real-world tasks. The learning component can solve the data efficiency of the model-free optimization algorithms.
To boost the fiscal revenue, i.e., government revenue over GDP and central government revenue over government total revenue, China conducted the 1994 fiscal reforms…
To boost the fiscal revenue, i.e., government revenue over GDP and central government revenue over government total revenue, China conducted the 1994 fiscal reforms. According to some observers, the results of the initial reforms were mixed. This study reveals, contrary to most examinations of previous studies, the 1994 fiscal reforms have been an enormous success in achieving the original policy purposes, although remaining problems still present a daunting task for the Chinese government. This paper examines the factors triggering the 1994 fiscal reforms, reveals the contents and accomplishments of the reforms, explores unfinished tasks and ultimately proposes some policy implications.