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Constrained Multi-objective Robot’s Design Optimization
P. 1992–1995.
Posypkin M., Maminov A.
In this article, we consider an approach for the
optimal multi-objective constrained design of the parallel robots.
Optimization is carried out according to two key criteria: the
workspace area and the global dexterity index (GDI) concerning
constrain. The workspace is the area that the robot can serve.
The value of the GDI correlates with the quality of this service.
Both objectives are maximized. However, there is a tradeoff
between these goals, and they can't achieve maximums at the
same point. Therefore, the solution for this problem is a Pareto-optimal frontier (the set of points, which can’t be optimized in any criteria without worsening the other). The paper describes
the robot’s kinematic and singularity analysis, workspace area
approximation, the GDI calculation. The Pareto-frontier for the
multi-objective constrained optimization problem under
consideration is constructed. We also create representative
visualization for robot workspace, singularity positions, and
efficient Pareto-set
Akaev A., Ильин И. В., Korotayev A., Вестник Российской академии наук 2025 № 9 С. 3–15
The article examines the likelihood of creating artificial intelligence (AI) at the human level (“human intelligence level”, AGI) by 2027-2029 and the onset of the era of technological singularity, when a fundamental change in the mechanism of human evolution will occur. It is noted that this probability is close to one, since these dates surprisingly ...
Added: October 28, 2025
Nainggolan N., Maghsoudlou E., AlWadi B. M. et al., International Journal of Industrial Engineering and Management 2024 Vol. 15 No. 3 P. 254–263
This paper addresses the need for innovative optimization solutions in automotive manufacturing. Through advanced algorithms, we review existing methods and introduce novel approaches tailored to this sector. Our literature review identifies gaps and limitations in current methodologies. We define a specific optimization problem within automotive manufacturing, emphasizing its unique challenges. Our key contributions include: (a) ...
Added: October 22, 2025
Yury Semenov, Oleg Sukhoroslov, , in: Supercomputing. 10th Russian Supercomputing Days, RuSCDays 2024, Moscow, Russia, September 23–24, 2024, Revised Selected Papers, Part II* 2.: Springer, 2025. P. 20–31.
Workflow scheduling in the cloud is a challenging multi-objective optimization problem where an efficient scheduling algorithm is required to optimize both performance and cost. Despite the huge body of work on designing workflow scheduling algorithms, the differences in the experiment settings, VM instances, sets of baseline algorithms, and the choice of reference point for hypervolume ...
Added: April 25, 2025
Sergey V. Zykov, Singapore: Springer, 2024.
The book focuses on modeling real-world crisis management in digital product development. This includes models and methods for forecasting, responding, and agile engineering/managing for sustainable product development. This book suggests an approach that contains principles, formal models, and semi-formal practice-oriented methods, patterns and techniques to efficiently manage these crises and provide sustainable development. The book ...
Added: March 10, 2024
Агапов М. Г., Васильева З. С., Карасева А. И. et al., Этнографическое обозрение 2021 № 6 С. 102–116
© 2021, Russian Academy of Sciences. All rights reserved.This is a forum discussion of the article “The Anthropology of Time: History and the State of the Art” by Nikolai Ssorin-Chaikov. Authors explicate the article’s main argument and critically engage with its main points, particularly with the concept of temporal multiplicity and relations within it. In ...
Added: October 29, 2022
Negodin V., Polyachenko Y., Fleita D. et al., Journal of Molecular Liquids 2021 Vol. 322 No. 1-3 Article 114954
The equilibrium and metastable states of the Lennard-Jones vapor, liquid, and crystal, are studied in the vicinity of the phase transition points. Vapor-liquid, liquid-vapor, liquid-crystal, and crystal-liquid transitions are modeled within the molecular dynamics method. As a research tool, a four-point correlation function is used for the qualitative detection of collective motions of atoms in ...
Added: May 14, 2021
Korotayev A., LePoire D., , in: The 21st Century Singularity and Global Futures. A Big History Perspective.: Switzerland: Springer, 2020. P. 599–620.
This concluding chapter summarizes major findings of the present collective monograph. It traces the emergence of accelerating innovation rates through history and the major historical transformations through the evolution of life, humans, and civilization. It draws on the concepts from physics and evolutionary biology to offer potential models of the underlying mechanisms driving this acceleration ...
Added: November 13, 2020
Maminov A., Posypkin M., International Journal of Open Information Technologies 2019 Т. 7 № 11 С. 1–7
— We consider the optimization of the key design parameters of the 2-RPR parallel robot in this paper. Optimization is carried out according to two criteria: the area of the workspace of the 2-RPR robot and the controllability index - global dexterity index (GDI). In the process of analyzing the robot, the direct and inverse ...
Added: November 11, 2020
Kazaryan M., Uribe-Vargas R., Moscow Mathematical Journal 2020 Vol. 20 No. 3 P. 511–530
We define local indices for projective umbilics and godrons (also called cusps of Gauss) on generic smooth surfaces in projective 3-space. By means of these indices, we provide formulas that relate the algebraic numbers of those characteristic points on a surface (and on domains of the surface) with the Euler characteristic of that surface (resp. ...
Added: August 24, 2020
Buryak A., Moscow Mathematical Journal 2020 Vol. 20 No. 3 P. 475–493
By a famous result of K. Saito, the parameter space of the miniversal deformation of the $A_{r-1}$-singularity carries a Frobenius manifold structure. The Landau-Ginzburg mirror symmetry says that, in the flat coordinates, the potential of this Frobenius manifold is equal to the generating series of certain integrals over the moduli space of $r$-spin curves. In ...
Added: May 22, 2020
Grinin L. E., Grinin A., Korotayev A., Technological Forecasting and Social Change 2020 Vol. 155 Article 119955
The authors quantitatively analyse the long-term dynamics of technological progress from 40,000 BCE and offer projections through the 22nd century. We provide one method to measure technological progress over that time period, using a simple hyperbolic equation, yt = C/(t0 – t), as our model. We define yt as the technological growth rate, measured as number of technological phase transitions ...
Added: March 6, 2020
Panov A., LePoire D., Korotayev A., , in: The 21st Century Singularity and Global Futures. A Big History Perspective.: Switzerland: Springer, 2020. Ch. 1 P. 1–18.
This introductory chapter discusses the overall place of the twenty-first-century Singularity within the overall Big History. It is shown that to place the accelerating trend of complexity in the context of Big History, we need to distinguish the two forms (arms) of megaevolution so far in the universe. The first arm of evolution is the ...
Added: February 3, 2020
Grinin L. E., Grinin A., Korotayev A., , in: The 21st Century Singularity and Global Futures. A Big History Perspective.: Switzerland: Springer, 2020. Ch. 15 P. 287–344.
In this chapter, we consider the process of technological progress presenting one of the options for measuring its speed throughout the entire historical process. We find that the general dynamics of accelerating technological growth over the past 40 thousand years can be described with amazing accuracy (R2 = 0.99) using the following simplest hyperbolic equation: yt = C/t0 − t, where yt is the ...
Added: February 3, 2020
Malkov S. Y., , in: The 21st Century Singularity and Global Futures. A Big History Perspective.: Switzerland: Springer, 2020. Ch. 23 P. 517–534.
Using mathematical modeling, we consider the phenomenon of singularity in the biological and social history. It is shown that hyperbolic trends in biological and social evolution can be explained by transitional processes that accompany the expansion of ecological niches due to periodically occurring revolutionary innovations. During these periods, strong positive feedbacks are actualized, leading to ...
Added: February 3, 2020
Korotayev A., , in: The 21st Century Singularity and Global Futures. A Big History Perspective.: Switzerland: Springer, 2020. Ch. 26 P. 571–595.
This chapter discusses in some detail the possibility of the Singularity being a product of biased human perception described by the Weber–Fechner law. It is shown that though the Weber–Fechner effect can produce series with a hyperbolic shape, the hyperbolic acceleration pattern with the twenty-first century Singularity detected in Panov and Modis–Kurzweil series is explained first ...
Added: January 27, 2020
Korotayev A., , in: The 21st Century Singularity and Global Futures. A Big History Perspective.: Switzerland: Springer, 2020. Ch. 2 P. 19–75.
The idea that in the near future we should expect “the Singularity” has become quite popular recently, primarily thanks to the activities of Google technical director in the field of machine training Raymond Kurzweil and his book The Singularity Is Near (2005). It is shown that the mathematical analysis of the series of events (described by Kurzweil ...
Added: January 27, 2020
Switzerland: Springer, 2020.
This book introduces a 'Big History' perspective to understand the acceleration of social, technological and economic trends towards a near-term singularity, marking a radical turning point in the evolution of our planet. It traces the emergence of accelerating innovation rates through global history and highlights major historical transformations throughout the evolution of life, humans, and civilization. ...
Added: January 27, 2020
Korotayev A., Journal of Big History 2018 Vol. 2 No. 3 P. 73–119
The idea that in the near future we should expect “the Singularity” has become quite popular recently, primarily thanks to the activities of Google technical director in the field of machine training Raymond Kurzweil and his book The Singularity Is Near (2005). It is shown that the mathematical analysis of the series of events (described ...
Added: June 30, 2018
Arzhantsev I., Braun L., Hausen J. et al., European Journal of Mathematics 2018 Vol. 4 No. 1 P. 242–312
Looking at the well understood case of log terminal surface singularities, one observes that each of them is the quotient of a factorial one by a finite solvable group. The derived series of this group reflects an iteration of Cox rings of surface singularities. We extend this picture to log terminal singularities in any dimension ...
Added: March 4, 2018
Kurakin D., В кн.: XIV Апрельская международная научная конференция по проблемам развития экономики и общества: в 4-х книгах. Книга 3.: М.: Издательский дом НИУ ВШЭ, 2014. С. 485–491.
Сборник составлен по итогам XIV Апрельской международной научной конференции по проблемам развития экономики и общества, организованной Национальным исследовательским университетом «Высшая школа экономики» при участии Всемирного банка и Международного валютного фонда и проходившей 2–5 апреля 2013 г. в Москве.
Рассматриваются следующие темы: региональное развитие, города и агломерации; менеджмент; наука и инновации; социально-культурные процессы; общество и социальная политика; ...
Added: April 1, 2014
Vladimir L. Popov, , in: Oberwolfach ReportsVol. 11. Issue 1.: European Mathematical Society Publishing house, 2014. P. 156–159.
Let G be a connected semisimple algebraic group over an algebraically closed field k. In 1965 R. Steinberg proved that if G is
simply connected, then in G there exists a closed irreducible cross-section of the set of closures of regular conjugacy classes.
We prove that in arbitrary G such a cross-section exists if and only if ...
Added: February 26, 2014