A simulation-based Genetic Algorithm approach for refilling process with Clip Type Passive Manipulator

A new Clip Type Passive Manipulator, instead of the Scissors Type Manipulator, is studied and applied for solving the problem of small capacity of the manipulator. When the capacity of the manipulator increases, the picking algorithm is considered for refilling process. The sequence of medicine storages is arranged in accordance with the picking algorithm, which is one important operational efficiency index of Fast Medicine Dispensing System (FMDS) in Pharmacy. Genetic Algorithm (GA) is used in the picking algorithm to search a better picking route. Based on the experiments and data analysis, results show the picking route value simulated-based GA by the Clip Type Manipulator more than 17% compared with the Scissors Type Manipulator. By increasing of picking points, the rate of optimization decreases firstly and then increases.

[1]  D. Skrlec,et al.  A heuristic modification of genetic algorithm used for solving the single depot capacited vehicle routing problem , 1997, Proceedings Intelligent Information Systems. IIS'97.

[2]  Hyouk Ryeol Choi,et al.  A semi-direct drive hand exoskeleton using ultrasonic motor , 1999, 8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483).

[3]  Enrique Alba,et al.  Computing nine new best-so-far solutions for Capacitated VRP with a cellular Genetic Algorithm , 2006, Inf. Process. Lett..

[4]  George T. S. Ho,et al.  A Genetic Algorithm-based optimization model for supporting green transportation operations , 2014, Expert Syst. Appl..

[5]  Sheng Quan Xie,et al.  Robot assisted treadmill training: mechanisms and training strategies. , 2011, Medical engineering & physics.

[6]  P. Ballester,et al.  Comparison of task performance of robotic camera holders EndoAssist and Aesop , 2001, CARS.

[7]  R. J. Kuo,et al.  Solving CVRP with time window, fuzzy travel time and demand via a hybrid ant colony optimization and genetic algortihm , 2012, 2012 IEEE Congress on Evolutionary Computation.

[8]  Spyros G. Tzafestas.  Mobile Robots at Work , 2014 .

[9]  Wang Wei,et al.  Application and Research of the Clip Type Manipulator , 2016 .

[10]  Zixia Chen,et al.  VRP Based on Improved Niche Isolation Genetic Algorithm , 2007, Fourth International Conference on Fuzzy Systems and Knowledge Discovery (FSKD 2007).

[11]  Spyros G. Tzafestas,et al.  Introduction to Mobile Robot Control , 2013 .

[12]  T. Wei,et al.  Robot-assisted laparoscopic excision of a retroperitoneal paracaval tumor. , 2013, Journal of the Chinese Medical Association : JCMA.

[13]  Hao Xiong.  A Fuel Consumption Objective of VRP and the Genetic Algorithm , 2010, 2010 International Conference on E-Product E-Service and E-Entertainment.

[14]  Wei Meng,et al.  Recent development of mechanisms and control strategies for robot-assisted lower limb rehabilitation , 2015 .

[15]  R. Garrel,et al.  Robot-assisted transaxillary thyroidectomy: surgical technique. , 2015, European annals of otorhinolaryngology, head and neck diseases.