Project schedule optimisation utilising genetic algorithms

This thesis was submitted for the degree of Doctor of Philosophy and awarded by Brunel University.This thesis extends the body of research into the application of Genetic Algorithms to the Project Scheduling Problem (PSP). A thorough literature review is conducted in this area as well as in the application of other similar meta-heuristics. The review extends previous similar reviews to include PSP utilizing the Design Structure Matrix (DSM), as well as incorporating recent developments. There is a need within industry for optimisation algorithms that can assist in the identification of optimal schedules when presented with a network that can present a number of possible alternatives. The optimisation requirement may be subtle only performing slight resource levelling or more profound by selecting an optimal mode of execution for a number of activities or evaluating a number of alternative strategies. This research proposes a unique, efficient algorithm using adaptation based on the fitness improvement over successive generations. The algorithm is tested initially using a MATLAB based implementation to solve instances of the travelling salesman problem (TSP). The algorithm is then further developed both within MATLAB and Microsoft Project Visual Basic to optimise both known versions of the Resource Constrained Project Scheduling Problems as well as investigating newly defined variants of the problem class

Particle Swarm Optimization

Particle swarm optimization (PSO) is a population based stochastic optimization technique influenced by the social behavior of bird flocking or fish schooling.PSO shares many similarities with evolutionary computation techniques such as Genetic Algorithms (GA). The system is initialized with a population of random solutions and searches for optima by updating generations. However, unlike GA, PSO has no evolution operators such as crossover and mutation. In PSO, the potential solutions, called particles, fly through the problem space by following the current optimum particles. This book represents the contributions of the top researchers in this field and will serve as a valuable tool for professionals in this interdisciplinary field

Project schedule optimisation utilising genetic algorithms

This thesis extends the body of research into the application of Genetic Algorithms to the Project Scheduling Problem (PSP). A thorough literature review is conducted in this area as well as in the application of other similar meta-heuristics. The review extends previous similar reviews to include PSP utilizing the Design Structure Matrix (DSM), as well as incorporating recent developments. There is a need within industry for optimisation algorithms that can assist in the identification of optimal schedules when presented with a network that can present a number of possible alternatives. The optimisation requirement may be subtle only performing slight resource levelling or more profound by selecting an optimal mode of execution for a number of activities or evaluating a number of alternative strategies. This research proposes a unique, efficient algorithm using adaptation based on the fitness improvement over successive generations. The algorithm is tested initially using a MATLAB based implementation to solve instances of the travelling salesman problem (TSP). The algorithm is then further developed both within MATLAB and Microsoft Project Visual Basic to optimise both known versions of the Resource Constrained Project Scheduling Problems as well as investigating newly defined variants of the problem class.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Towards adaptive and autonomous humanoid robots: from vision to actions

Although robotics research has seen advances over the last decades robots are still not in widespread use outside industrial applications. Yet a range of proposed scenarios have robots working together, helping and coexisting with humans in daily life. In all these a clear need to deal with a more unstructured, changing environment arises. I herein present a system that aims to overcome the limitations of highly complex robotic systems, in terms of autonomy and adaptation. The main focus of research is to investigate the use of visual feedback for improving reaching and grasping capabilities of complex robots. To facilitate this a combined integration of computer vision and machine learning techniques is employed. From a robot vision point of view the combination of domain knowledge from both imaging processing and machine learning techniques, can expand the capabilities of robots. I present a novel framework called Cartesian Genetic Programming for Image Processing (CGP-IP). CGP-IP can be trained to detect objects in the incoming camera streams and successfully demonstrated on many different problem domains. The approach requires only a few training images (it was tested with 5 to 10 images per experiment) is fast, scalable and robust yet requires very small training sets. Additionally, it can generate human readable programs that can be further customized and tuned. While CGP-IP is a supervised-learning technique, I show an integration on the iCub, that allows for the autonomous learning of object detection and identification. Finally this dissertation includes two proof-of-concepts that integrate the motion and action sides. First, reactive reaching and grasping is shown. It allows the robot to avoid obstacles detected in the visual stream, while reaching for the intended target object. Furthermore the integration enables us to use the robot in non-static environments, i.e. the reaching is adapted on-the- fly from the visual feedback received, e.g. when an obstacle is moved into the trajectory. The second integration highlights the capabilities of these frameworks, by improving the visual detection by performing object manipulation actions

Robots learn to behave: improving human-robot collaboration in flexible manufacturing applications

L'abstract è presente nell'allegato / the abstract is in the attachmen

Semi-autonomous robotic wheelchair controlled with low throughput human- machine interfaces

For a wide range of people with limited upper- and lower-body mobility, interaction with robots remains a challenging problem. Due to various health conditions, they are often unable to use standard joystick interface, most of wheelchairs are equipped with. To accommodate this audience, a number of alternative human-machine interfaces have been designed, such as single switch, sip-and-puff, brain-computer interfaces. They are known as low throughput interfaces referring to the amount of information that an operator can pass into the machine. Using them to control a wheelchair poses a number of challenges. This thesis makes several contributions towards the design of robotic wheelchairs controlled via low throughput human-machine interfaces: (1) To improve wheelchair motion control, an adaptive controller with online parameter estimation is developed for a differentially driven wheelchair. (2) Steering control scheme is designed that provides a unified framework integrating different types of low throughput human-machine interfaces with an obstacle avoidance mechanism. (3) A novel approach to the design of control systems with low throughput human-machine interfaces has been proposed. Based on the approach, position control scheme for a holonomic robot that aims to probabilistically minimize time to destination is developed and tested in simulation. The scheme is adopted for a real differentially driven wheelchair. In contrast to other methods, the proposed scheme allows to use prior information about the user habits, but does not restrict navigation to a set of pre-defined points, and parallelizes the inference and motion reducing the navigation time. (4) To enable the real time operation of the position control, a high-performance algorithm for single-source any-angle path planning on a grid has been developed. By abandoning the graph model and introducing discrete geometric primitives to represent the propagating wave front, we were able to design a planning algorithm that uses only integer addition and bit shifting. Experiments revealed a significant performance advantage. Several modifications, including optimal and multithreaded implementations, are also presented

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