Egidio D’Amato

A Hierarchical MultiModal Hybrid Stackelberg–Nash GA for a Leader with Multiple Followers Game

In this paper a numerical procedure based on a genetic algorithm (GA) evolution process is given to compute a Stackelberg solution for a hierarchical n + 1-person game. There is a leader player who enounces a decision before the others, and the rest of players (followers) take into account this decision and solve a Nash equilibrium problem. So there is a two-level game between the leader and the followers, called Stackelberg–Nash problem. The idea of the Stackelberg-GA is to bring together genetic algorithms and Stackelberg strategy in order to process a genetic algorithm to build the Stackelberg strategy. In the lower level, the followers make their decisions simultaneously at each step of the evolutionary process, playing a so called Nash game between themselves. The use of a multimodal genetic algorithm allows to find multiple Stackelberg strategies at the upper level. In this model the uniqueness of the Nash equilibrium at the lower-level problem has been supposed. The algorithm convergence is illustrated by means of several test cases.

Model predictive control for a multi-body slung-load system

Abstract In this paper we present a multi-level and distributed control system, based on a robust Model Predictive Control (MPC) technique, for a multi-body slung-load system. In particular, we consider a swarm of autonomous multi-copters which are connected by wires to a suspended payload. The payload reference trajectory is obtained through a constrained optimization, then the reference trajectory for each UAV is derived on the basis of the known shape of the formation, while taking into account operational constraints such as collision avoidance and cruise speed. Trajectory tracking is performed by a multi-level flight control system based on a MPC technique and a PID control system. Numerical simulations have been performed in order to test the control system in realistic scenarios. In particular, the multi-copters are modeled by the six Degrees-of-Freedom (6DOF) model, the constraint forces on the wires are calculated using the Udwadia–Kalaba equation and the external disturbances (atmospheric turbulence and gust) are included in the simulation. Simulation results are encouraging, thus making the proposed system an appealing candidate for similar applications.

A Preventive Ergonomic Approach Based on Virtual and Immersive Reality

The introduction of new information and communication technologies (ICT) in factory environment is leading the world of manufacturing industry to a change. Indeed, we talk about Industry 4.0, the fourth industrial revolution, that facilitates the vision of a Smart Factory in which systems become cyber-physical, interact between themselves, monitor and validate physical processes, creating a virtual copy of the physical world and making decisions based on complex numerical analysis. Virtualization and simulation of production processes generate several benefits, in terms of costs and time, optimizing the assembly line design and studying human-machine interaction. Regarding the last topic, this paper proposes an innovative method for ergonomic analysis of workplaces on automotive assembly lines in a virtual environment. The method can represent an innovation for human-centered design of workplace in developing new products, reducing costs and improving job quality thanks to a preventive ergonomic approach.

Human Posture Tracking System for Industrial Process Design and Assessment

One of the critical issues characterizing the manufacturing industries, which within Industry 4.0 era are experiencing the new human-centered approach in design, is related to working postures assumed by the workers in assembly activities.

A Planar Location-Allocation Problem with Waiting Time Costs

We study a location-allocation problem where the social planner has to locate some new facilities minimizing the social costs, i.e. the fixed costs plus the waiting time costs, taking into account that the citizens are partitioned in the region according to minimizing the capacity acquisition costs plus the distribution costs in the service regions. In order to find the optimal location of the new facilities and the optimal partition of the consumers, we consider a two-stage optimization model. Theoretical and computational aspects of the location-allocation problem are discussed for a planar region and illustrated with examples.

A Game Theoretical Model for Experiment Design Optimization

In this paper we present a noncooperative game theoretical model for the well known problem of experimental design. A virtual player decides the design variables of an experiment and all the players solve a Nash equilibrium problem by optimizing suitable payoff functions. The resulting game has nice properties, so that a computational procedure is performed by using genetic algorithm approach. We consider the case where the design variables are the coordinates of n points in a region of the plane and we look for the optimal configuration of the points under some constraints. The problem arises from a concrete situation: find the optimal location of n receivers able to pick up particles of cosmic ray in a given platform (some experiment to measure the quantities of gamma rays are ongoing in Nepal thanks to the altitude of the region). Theoretical and computational results are presented for this location problem.

Upper Body Motion Tracking System with Inertial Sensors for Ergonomic Issues in Industrial Environments

Recently, motion tracking techniques to acquire human body movements have broadened their range of applications from sports training, to rehabilitation, to ergonomics issues. For industrial applications, motion capture systems are largely used to acquire workers movements to improve working conditions, comfort, safety, etc. Several tracking solutions have been provided to analyze trunk and upper limbs movement based on different sensing technologies such as optical systems, audio systems, radar systems, magnetic systems, inertial systems and mechanical motion systems. Motion tracking with inertial sensors has been an active research area due to its several advantages. In this paper the authors introduce a motion tracking method of arbitrary human upper body motion. Low cost wearable inertial sensors and CPU unit are used in the proposed approach to track the upper body movement in 3D space and in real time.

A Genetic Algorithm for a Sensor Device Location Problem

In this paper we present a noncooperative game theoretical model for the well known problem of experimental design. A virtual player decides the design variables of an experiment and all the players solve a Nash equilibrium problem by optimizing suitable payoff functions. We consider the case where the design variables are the coordinates of \(n\) points in a region of the plane and we look for the optimal configuration of the points under some constraints. Arising from a concrete situation, concerning the ARGO-YBJ experiments, the goal is to find the optimal configuration of the detector, consisting of a single layer of resistive plate counters. Theoretical and computational results are presented for this location problem.

Location Methods in Experimental Design

The design variables of an experiment is modeled as a facility location problem: we consider the case where the design variables are the coordinates of n points in a region of the plane and we look for the optimal configuration of the points under some constraints. In this paper we present a non-cooperative game theoretical model for the problem of experimental design: each of n virtual players decides the location of a point in the admissible region optimizing a pay-off function. The Nash equilibrium solutions will be the optimal solutions of the design variables problem. The resulting game has nice properties, so that a computational procedure is performed by using genetic algorithm approach and some existence results are obtained.

Experimental Design Problems and Nash Equilibrium Solutions

In this paper we present a non-cooperative game theoretical model for the well-known problem of experimental design. Nash equilibrium solutions of a suitable game will be the optimal values of the design variables, given by the coordinates of points in a region in the spirit of the facility location model. Because of the dependency of the objective functions on the distance from the domain’s boundary, this problem has a strong analogy with the classical sphere packing problem. Theoretical and computational results are presented for this location problem by virtue of a genetic algorithm procedure for both two- and three-dimensional test cases.