Cooperative Particle Swarm Optimization for Combinatorial Problems

A particularly successful line of research for numerical optimization is the well-known computational paradigm particle swarm optimization (PSO). In the PSO framework, candidate solutions are represented as particles that have a position and a velocity in a multidimensional search space. The direct representation of a candidate solution as a point that flies through hyperspace (i.e., Rn) seems to strongly predispose the PSO toward continuous optimization. However, while some attempts have been made towards developing PSO algorithms for combinatorial problems, these techniques usually encode candidate solutions as permutations instead of points in search space and rely on additional local search algorithms. In this dissertation, I present extensions to PSO that by, incorporating a cooperative strategy, allow the PSO to solve combinatorial problems. The central hypothesis is that by allowing a set of particles, rather than one single particle, to represent a candidate solution, combinatorial problems can be solved by collectively constructing solutions. The cooperative strategy partitions the problem into components where each component is optimized by an individual particle. Particles move in continuous space and communicate through a feedback mechanism. This feedback mechanism guides them in the assessment of their individual contribution to the overall solution. Three new PSO-based algorithms are proposed. Shared-space CCPSO and multispace CCPSO provide two new cooperative strategies to split the combinatorial problem, and both models are tested on proven NP-hard problems. Multimodal CCPSO extends these combinatorial PSO algorithms to efficiently sample the search space in problems with multiple global optima. Shared-space CCPSO was evaluated on an abductive problem-solving task: the construction of parsimonious set of independent hypothesis in diagnostic problems with direct causal links between disorders and manifestations. Multi-space CCPSO was used to solve a protein structure prediction subproblem, sidechain packing. Both models are evaluated against the provable optimal solutions and results show that both proposed PSO algorithms are able to find optimal or near-optimal solutions. The exploratory ability of multimodal CCPSO is assessed by evaluating both the quality and diversity of the solutions obtained in a protein sequence design problem, a highly multimodal problem. These results provide evidence that extended PSO algorithms are capable of dealing with combinatorial problems without having to hybridize the PSO with other local search techniques or sacrifice the concept of particles moving throughout a continuous search space

Using MapReduce Streaming for Distributed Life Simulation on the Cloud

Distributed software simulations are indispensable in the study of large-scale life models but often require the use of technically complex lower-level distributed computing frameworks, such as MPI. We propose to overcome the complexity challenge by applying the emerging MapReduce (MR) model to distributed life simulations and by running such simulations on the cloud. Technically, we design optimized MR streaming algorithms for discrete and continuous versions of Conway’s life according to a general MR streaming pattern. We chose life because it is simple enough as a testbed for MR’s applicability to a-life simulations and general enough to make our results applicable to various lattice-based a-life models. We implement and empirically evaluate our algorithms’ performance on Amazon’s Elastic MR cloud. Our experiments demonstrate that a single MR optimization technique called strip partitioning can reduce the execution time of continuous life simulations by 64%. To the best of our knowledge, we are the first to propose and evaluate MR streaming algorithms for lattice-based simulations. Our algorithms can serve as prototypes in the development of novel MR simulation algorithms for large-scale lattice-based a-life models.https://digitalcommons.chapman.edu/scs_books/1014/thumbnail.jp

8th Annual Focus on Creative Inquiry Poster Forum Program

The poster forum today displays a few of the more than 400 projects initiated by Clemson University Creative Inquiry teams. What is Creative Inquiry? It is small-group learning for all students. It is the imaginative combination of engaged learning and undergraduate research. Ultimately, it is the creation of an Ah-ha! Moment — and it is unique to Clemson University. Creative Inquiry establishes small teams of undergraduate students that work with faculty mentors to take on problems that spring from their own curiosity, from a professor’s challenge, or from the pressing needs of the world around them. Students take ownership of their projects. They ask questions, they take risks, and they get answers

Design and Development of an Automated Mobile Manipulator for Industrial Applications

This thesis presents the modeling, control and coordination of an automated mobile manipulator. A mobile manipulator in this investigation consists of a robotic manipulator and a mobile platform resulting in a hybrid mechanism that includes a mobile platform for locomotion and a manipulator arm for manipulation. The structural complexity of a mobile manipulator is the main challenging issue because it includes several problems like adapting a manipulator and a redundancy mobile platform at non-holonomic constraints. The objective of the thesis is to fabricate an automated mobile manipulator and develop control algorithms that effectively coordinate the arm manipulation and mobility of mobile platform. The research work starts with deriving the motion equations of mobile manipulators. The derivation introduced here makes use of motion equations of robot manipulators and mobile platforms separately, and then integrated them as one entity. The kinematic analysis is performed in two ways namely forward & inverse kinematics. The motion analysis is performed for various WMPs such as, Omnidirectional WMP, Differential three WMP, Three wheeled omni-steer WMP, Tricycle WMP and Two steer WMP. From the obtained motion analysis results, Differential three WMP is chosen as the mobile platform for the developed mobile manipulator. Later motion analysis is carried out for 4-axis articulated arm. Danvit-Hartenberg representation is implemented to perform forward kinematic analysis. Because of this representation, one can easily understand the kinematic equation for a robotic arm. From the obtained arm equation, Inverse kinematic model for the 4-axis robotic manipulator is developed. Motion planning of an intelligent mobile robot is one of the most vital issues in the field of robotics, which includes the generation of optimal collision free trajectories within its work space and finally reaches its target position. For solving this problem, two evolutionary algorithms namely Particle Swarm Optimization (PSO) and Artificial Immune System (AIS) are introduced to move the mobile platform in intelligent manner. The developed algorithms are effective in avoiding obstacles, trap situations and generating optimal paths within its unknown environments. Once the robot reaches its goal (within the work space of the manipulator), the manipulator will generate its trajectories according to task assigned by the user. Simulation analyses are performed using MATLAB-2010 in order to validate the feasibility of the developed methodologies in various unknown environments. Additionally, experiments are carried out on an automated mobile manipulator. ATmega16 Microcontrollers are used to enable the entire robot system movement in desired trajectories by means of robot interface application program. The control program is developed in robot software (Keil) to control the mobile manipulator servomotors via a serial connection through a personal computer. To support the proposed control algorithms both simulation and experimental results are presented. Moreover, validation of the developed methodologies has been made with the ER-400 mobile platform

Bio-Inspired Robotics

Modern robotic technologies have enabled robots to operate in a variety of unstructured and dynamically-changing environments, in addition to traditional structured environments. Robots have, thus, become an important element in our everyday lives. One key approach to develop such intelligent and autonomous robots is to draw inspiration from biological systems. Biological structure, mechanisms, and underlying principles have the potential to provide new ideas to support the improvement of conventional robotic designs and control. Such biological principles usually originate from animal or even plant models, for robots, which can sense, think, walk, swim, crawl, jump or even fly. Thus, it is believed that these bio-inspired methods are becoming increasingly important in the face of complex applications. Bio-inspired robotics is leading to the study of innovative structures and computing with sensory–motor coordination and learning to achieve intelligence, flexibility, stability, and adaptation for emergent robotic applications, such as manipulation, learning, and control. This Special Issue invites original papers of innovative ideas and concepts, new discoveries and improvements, and novel applications and business models relevant to the selected topics of ``Bio-Inspired Robotics''. Bio-Inspired Robotics is a broad topic and an ongoing expanding field. This Special Issue collates 30 papers that address some of the important challenges and opportunities in this broad and expanding field

Recent Developments on Mobile Ad-Hoc Networks and Vehicular Ad-Hoc Networks

This book presents collective works published in the recent Special Issue (SI) entitled "Recent Developments on Mobile Ad-Hoc Networks and Vehicular Ad-Hoc Networks”. These works expose the readership to the latest solutions and techniques for MANETs and VANETs. They cover interesting topics such as power-aware optimization solutions for MANETs, data dissemination in VANETs, adaptive multi-hop broadcast schemes for VANETs, multi-metric routing protocols for VANETs, and incentive mechanisms to encourage the distribution of information in VANETs. The book demonstrates pioneering work in these fields, investigates novel solutions and methods, and discusses future trends in these field

2022-2023 Graduate School Catalog

Graduate students from more than 67 counties are providing outstanding leadership during the pandemic, as they conduct vital research to inform public health, contribute to the greater good, and stimulate the economy. Their scholarship spans 140 programs - from biomedical engineering to business administration, from history to horticulture, and from marine sciences to music performance