Navigational Strategies for Control of Underwater Robot using AI based Algorithms

Autonomous underwater robots have become indispensable marine tools to perform various tedious and risky oceanic tasks of military, scientific, civil as well as commercial purposes. To execute hazardous naval tasks successfully, underwater robot needs an intelligent controller to manoeuver from one point to another within unknown or partially known three-dimensional environment. This dissertation has proposed and implemented various AI based control strategies for underwater robot navigation. Adaptive versions of neuro-fuzzy network and several stochastic evolutionary algorithms have been employed here to avoid obstacles or to escape from dead end situations while tracing near optimal path from initial point to destination of an impulsive underwater scenario. A proper balance between path optimization and collision avoidance has been considered as major aspects for evaluating performances of proposed navigational strategies of underwater robot. Online sensory information about position and orientation of both target and nearest obstacles with respect to the robot’s current position have been considered as inputs for path planners. To validate the feasibility of proposed control algorithms, numerous simulations have been executed within MATLAB based simulation environment where obstacles of different shapes and sizes are distributed in a chaotic manner. Simulation results have been verified by performing real time experiments of robot in underwater environment. Comparisons with other available underwater navigation approaches have also been accomplished for authentication purpose. Extensive simulation and experimental studies have ensured the obstacle avoidance and path optimization abilities of proposed AI based navigational strategies during motion of underwater robot. Moreover, a comparative study has been performed on navigational performances of proposed path planning approaches regarding path length and travel time to find out most efficient technique for navigation within an impulsive underwater environment

Lost in optimisation of water distribution systems? A literature review of system design

This is the final version of the article. Available from MDPI via the DOI in this record.Optimisation of water distribution system design is a well-established research field, which has been extremely productive since the end of the 1980s. Its primary focus is to minimise the cost of a proposed pipe network infrastructure. This paper reviews in a systematic manner articles published over the past three decades, which are relevant to the design of new water distribution systems, and the strengthening, expansion and rehabilitation of existing water distribution systems, inclusive of design timing, parameter uncertainty, water quality, and operational considerations. It identifies trends and limits in the field, and provides future research directions. Exclusively, this review paper also contains comprehensive information from over one hundred and twenty publications in a tabular form, including optimisation model formulations, solution methodologies used, and other important details

Efficiency Criteria as a Solution to the Uncertainty in the Choice of Population Size in Population-Based Algorithms Applied to Water Network Optimization

[EN] Different Population-based Algorithms (PbAs) have been used in recent years to solve all types of optimization problems related to water resource issues. However, the performances of these techniques depend heavily on correctly setting some specific parameters that guide the search for solutions. The initial random population size P is the only parameter common to all PbAs, but this parameter has received little attention from researchers. This paper explores P behaviour in a pipe-sizing problem considering both quality and speed criteria. To relate both concepts, this study applies a method based on an efficiency ratio E. First, specific parameters in each algorithm are calibrated with a fixed P. Second, specific parameters remain fixed, and the initial population size P is modified. After more than 600,000 simulations, the influence of P on obtaining successful solutions is statistically analysed. The proposed methodology is applied to four well-known benchmark networks and four different algorithms. The main conclusion of this study is that using a small population size is more efficient above a certain minimum size. Moreover, the results ensure optimal parameter calibration in each algorithm, and they can be used to select the most appropriate algorithm depending on the complexity of the problem and the goal of optimization.This study was supported by the Program Initiation into research (Project 11140128) of the Comision Nacional de Investigacion Cientifica y Tecnologica (Conicyt), Chile.Mora Meliá, D.; Gutiérrez Bahamondes, JH.; Iglesias Rey, PL.; Martínez-Solano, FJ. (2016). Efficiency Criteria as a Solution to the Uncertainty in the Choice of Population Size in Population-Based Algorithms Applied to Water Network Optimization. Water. 2016(8). https://doi.org/10.3390/w8120583S5832016

A review: On path planning strategies for navigation of mobile robot

This paper presents the rigorous study of mobile robot navigation techniques used so far. The step by step investigations of classical and reactive approaches are made here to understand the development of path planning strategies in various environmental conditions and to identify research gap. The classical approaches such as cell decomposition (CD), roadmap approach (RA), artificial potential field (APF); reactive approaches such as genetic algorithm (GA), fuzzy logic (FL), neural network (NN), firefly algorithm (FA), particle swarm optimization (PSO), ant colony optimization (ACO), bacterial foraging optimization (BFO), artificial bee colony (ABC), cuckoo search (CS), shuffled frog leaping algorithm (SFLA) and other miscellaneous algorithms (OMA) are considered for study. The navigation over static and dynamic condition is analyzed (for single and multiple robot systems) and it has been observed that the reactive approaches are more robust and perform well in all terrain when compared to classical approaches. It is also observed that the reactive approaches are used to improve the performance of the classical approaches as a hybrid algorithm. Hence, reactive approaches are more popular and widely used for path planning of mobile robot. The paper concludes with tabular data and charts comparing the frequency of individual navigational strategies which can be used for specific application in robotics

Application of Metaheuristics in Signal Optimisation of Transportation Networks: A Comprehensive Survey

This is the author accepted manuscript. The final version is available from Elsevier via the DOI in this record.With rapid population growth, there is an urgent need for intelligent traffic control techniques in urban transportation networks to improve the network performance. In an urban transportation network, traffic signals have a significant effect on reducing congestion, improving safety, and improving environmental pollution. In recent years, researchers have been applied metaheuristic techniques for signal timing optimisation as one of the practical solution to enhance the performance of the transportation networks. Current study presents a comprehensive survey of such techniques and tools used in signal optimisation of transportation networks, providing a categorisation of approaches, discussion, and suggestions for future research

Overview of Multi-Objective Optimization Approaches in Construction Project Management

The difficulties that are met in construction projects include budget issues, contractual time constraints, complying with sustainability rating systems, meeting local building codes, and achieving the desired quality level, to name but a few. Construction researchers have proposed and construction practitioners have used optimization strategies to meet various objectives over the years. They started out by optimizing one objective at a time (e.g., minimizing construction cost) while disregarding others. Because the objectives of construction projects often conflict with each other, single-objective optimization does not offer practical solutions as optimizing one objective would often adversely affect the other objectives that are not being optimized. They then experimented with multi-objective optimization. The many multi-objective optimization approaches that they used have their own advantages and drawbacks when used in some scenarios with different sets of objectives. In this chapter, a review is presented of 16 multi-objective optimization approaches used in 55 research studies performed in the construction industry and that were published in the period 2012–2016. The discussion highlights the strengths and weaknesses of these approaches when used in different scenarios

A comprehensive survey on cultural algorithms

Peer reviewedPostprin

A Survey on Natural Inspired Computing (NIC): Algorithms and Challenges

Nature employs interactive images to incorporate end users2019; awareness and implication aptitude form inspirations into statistical/algorithmic information investigation procedures. Nature-inspired Computing (NIC) is an energetic research exploration field that has appliances in various areas, like as optimization, computational intelligence, evolutionary computation, multi-objective optimization, data mining, resource management, robotics, transportation and vehicle routing. The promising playing field of NIC focal point on managing substantial, assorted and self-motivated dimensions of information all the way through the incorporation of individual opinion by means of inspiration as well as communication methods in the study practices. In addition, it is the permutation of correlated study parts together with Bio-inspired computing, Artificial Intelligence and Machine learning that revolves efficient diagnostics interested in a competent pasture of study. This article intend at given that a summary of Nature-inspired Computing, its capacity and concepts and particulars the most significant scientific study algorithms in the field