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This paper presents an original and efficient PSO algorithm, which is divided into three phases: (1) stabilization, (2) breadth-first search, and (3) depth-first search. The proposed algorithm, called PSO-3P, was tested with 47 benchmark continuous unconstrained optimization problems, on a total of 82 instances. The numerical results show that the proposed algorithm is able to reach the global optimum. This work mainly focuses on unconstrained optimization problems from 2 to 1,000 variables. [ABSTRACT FROM AUTHOR]

The aim of this paper is to analyze load-carrying capacity of redundant free-floating space manipulators (FFSM) in trajectory tracking task. Combined with the analysis of influential factors in load-carrying process, evaluation of maximum load-carrying capacity (MLCC) is described as multiconstrained nonlinear programming problem. An efficient algorithm based on repeated line search within discontinuous feasible region is presented to determine MLCC for a given trajectory of the end-effector and corresponding joint path. Then, considering the influence of MLCC caused by different initial configurations for the starting point of given trajectory, a kind of maximum payload initial configuration planning method is proposed by using PSO algorithm. Simulations are performed for a particular trajectory tracking task of the 7-DOF space manipulator, of which MLCC is evaluated quantitatively. By in-depth research of the simulation results, significant gap between the values of MLCC when using different initial configurations is analyzed, and the discontinuity of allowable load-carrying capacity is illustrated. The proposed analytical method can be taken as theoretical foundation of feasibility analysis, trajectory optimization, and optimal control of trajectory tracking task in on-orbit load-carrying operations. [ABSTRACT FROM AUTHOR]