Swarm Robotics

Collectively working robot teams can solve a problem more efficiently than a single robot, while also providing robustness and flexibility to the group. Swarm robotics model is a key component of a cooperative algorithm that controls the behaviors and interactions of all individuals. The robots in the swarm should have some basic functions, such as sensing, communicating, and monitoring, and satisfy the following properties

Optimal Placement of Distributed Generation on a Power System Using Particle Swarm Optimization

In recent years, the power industry has experienced significant changes on the distribution power system primarily due to the implementation of smart-grid technology and the incremental implementation of distributed generation. Distributed Generation (DG) is simply defined as the decentralization of power plants by placing smaller generating units closer to the point of consumption, traditionally ten mega-watts or smaller. While DG is not a new concept, DG is gaining widespread interest primarily for the following reasons: increase in customer demand, advancements in technology, economics, deregulation, environmental and national security concerns. The distribution power system traditionally has been designed for radial power flow, but with the introduction of DG, the power flow becomes bidirectional. As a result, conventional power analysis tools and techniques are not able to properly assess the impact of DG on the electrical system. The presence of DG on the distribution system creates an array of potential problems related to safety, stability, reliability and security of the electrical system. Distributed generation on a power system affects the voltages, power flow, short circuit currents, losses and other power system analysis results. Whether the impact of the DG is positive or negative on the system will depend primarily on the location and size of the DG. The objective of this research is to develop indices and an effective technique to evaluate the impact of distributed generation on a distribution power system and to employ the particle swarm optimization technique to determine the optimal placement and size of the DG unit with an emphasis on improving system reliability while minimizing the following system parameters: power losses, voltage deviation and fault current contributions. This research utilizes the following programs to help solve the optimal DG placement problem: Distribution System Simulator (DSS) and MATLAB. The developed indices and PSO technique successfully solved the optimal DG sizing and placement problem for the I 13-Node, 34-Node and 123-Node Test Cases. The multi-objective index proved to be computational efficient and accurately evaluated the impact of distributed generation on the power system. The results provided valuable information about the system response to single and multiple DG units

Exact and non-exact procedures for solving the response time variability problem (RTVP)

Premi extraordinari doctorat curs 2009-2010, àmbit d’Enginyeria IndustrialCuando se ha de compartir un recurso entre demandas (de productos, clientes, tareas, etc.) competitivas que requieren una atención regular, es importante programar el derecho al acceso del recurso de alguna forma justa de manera que cada producto, cliente o tarea reciba un acceso al recurso proporcional a su demanda relativa al total de las demandas competitivas. Este tipo de problemas de secuenciación pueden ser generalizados bajo el siguiente esquema. Dados n símbolos, cada uno con demanda di (i = 1,...,n), se ha de generar una secuencia justa o regular donde cada símbolo aparezca di veces. No existe una definición universal de justicia, ya que puede haber varias métricas razonables para medirla según el problema específico considerado. En el Problema de Variabilidad en el Tiempo de Respuesta, o Response Time Variability Problem (RTVP) en inglés, la injusticia o irregularidad de una secuencia es medida como la suma, para todos los símbolos, de sus variabilidades en las distancias en que las copias de cada símbolo son secuenciados. Así, el objetivo del RTVP es encontrar la secuencia que minimice la variabilidad total. En otras palabras, el objetivo del RTVP es minimizar la variabilidad de los instantes en que los productos, clientes o trabajos reciben el recurso necesario. Este problema aparece en una amplia variedad de situaciones de la vida real; entre otras, secuenciación en líneas de modelo-mixto bajo just-in-time (JIT), en asignación de recursos en sistemas computacionales multi-hilo como sistemas operativos, servidores de red y aplicaciones mutimedia, en el mantenimiento periódico de maquinaria, en la recolección de basura, en la programación de comerciales en televisión y en el diseño de rutas para agentes comerciales con múltiples visitas a un mismo cliente. En algunos de estos problemas la regularidad no es una propiedad deseable por sí misma, si no que ayuda a minimizar costes. De hecho, cuando los costes son proporcionales al cuadrado de las distancias, el problema de minimizar costes y el RTVP son equivalentes. El RTVP es muy difícil de resolver (se ha demostrado que es NP-hard). El tamaño de las instancias del RTVP que pueden ser resueltas óptimamente con el mejor método exacto existente en la literatura tiene un límite práctico de 40 unidades. Por otro lado, los métodos no exactos propuestos en la literatura para resolver instancias mayores consisten en heurísticos simples que obtienen soluciones rápidamente, pero cuya calidad puede ser mejorada. Por tanto, los métodos de resolución existentes en la literatura son insuficientes. El principal objetivo de esta tesis es mejorar la resolución del RTVP. Este objetivo se divide en los dos siguientes subobjetivos : 1) aumentar el tamaño de las instancias del RTVP que puedan ser resueltas de forma óptima en un tiempo de computación práctico, y 2) obtener de forma eficiente soluciones lo más cercanas a las óptimas para instancias mayores. Además, la tesis tiene los dos siguientes objetivos secundarios: a) investigar el uso de metaheurísticos bajo el esquema de los hiper-heurísticos, y b) diseñar un procedimiento sistemático y automático para fijar los valores adecuados a los parámetros de los algoritmos. Se han desarrollado diversos métodos para alcanzar los objetivos anteriormente descritos. Para la resolución del RTVP se ha diseñado un método exacto basado en la técnica branch and bound y el tamaño de las instancias que pueden resolverse en un tiempo práctico se ha incrementado a 55 unidades. Para instancias mayores, se han diseñado métodos heurísticos, metaheurísticos e hiper-heurísticos, los cuales pueden obtener soluciones óptimas o casi óptimas rápidamente. Además, se ha propuesto un procedimiento sistemático y automático para tunear parámetros que aprovecha las ventajas de dos procedimientos existentes (el algoritmo Nelder & Mead y CALIBRA).When a resource must be shared between competing demands (of products, clients, jobs, etc.) that require regular attention, it is important to schedule the access right to the resource in some fair manner so that each product, client or job receives a share of the resource that is proportional to its demand relative to the total of the competing demands. These types of sequencing problems can be generalized under the following scheme. Given n symbols, each one with demand di (i = 1,...,n), a fair or regular sequence must be built in which each symbol appears di times. There is not a universal definition of fairness, as several reasonable metrics to measure it can be defined according to the specific considered problem. In the Response Time Variability Problem (RTVP), the unfairness or the irregularity of a sequence is measured by the sum, for all symbols, of their variabilities in the positions at which the copies of each symbol are sequenced. Thus, the objective of the RTVP is to find the sequence that minimises the total variability. In other words, the RTVP objective is to minimise the variability in the instants at which products, clients or jobs receive the necessary resource. This problem appears in a broad range of real-world areas. Applications include sequencing of mixed-model assembly lines under just-in-time (JIT), resource allocation in computer multi-threaded systems such as operating systems, network servers and media-based applications, periodic machine maintenance, waste collection, scheduling commercial videotapes for television and designing of salespeople's routes with multiple visits, among others. In some of these problems the regularity is not a property desirable by itself, but it helps to minimise costs. In fact, when the costs are proportional to the square of the distances, the problem of minimising costs and the RTVP are equivalent. The RTVP is very hard to be solved (it has been demonstrated that it is NP-hard). The size of the RTVP instances that can be solved optimally with the best exact method existing in the literature has a practical limit of 40 units. On the other hand, the non-exact methods proposed in the literature to solve larger instances are simple heuristics that obtains solutions quickly, but the quality of the obtained solutions can be improved. Thus, the solution methods existing in the literature are not enough to solve the RTVP. The main objective of this thesis is to improve the resolution of the RTVP. This objective is split in the two following sub-objectives: 1) to increase the size of the RTVP instances that can be solved optimally in a practical computing time; and 2) to obtain efficiently near-optimal solutions for larger instances. Moreover, the thesis has the following two secondary objectives: a) to research the use of metaheuristics under the scheme of hyper-heuristics, and b) to design a systematic, hands-off procedure to set the suitable values of the algorithm parameters. To achieve the aforementioned objectives, several procedures have been developed. To solve the RTVP an exact procedure based on the branch and bound technique has been designed and the size of the instances that can be solved in a practical time has been increased to 55 units. For larger instances, heuristic, heuristic, metaheuristic and hyper-heuristic procedures have been designed, which can obtain optimal or near-optimal solutions quickly. Moreover, a systematic, hands-off fine-tuning method that takes advantage of the two existing ones (Nelder & Mead algorithm and CALIBRA) has been proposed.Award-winningPostprint (published version

Optimal Placement of Distributed Generation on a Power System Using Particle Swarm Optimization

In recent years, the power industry has experienced significant changes on the distribution power system primarily due to the implementation of smart-grid technology and the incremental implementation of distributed generation. Distributed Generation (DG) is simply defined as the decentralization of power plants by placing smaller generating units closer to the point of consumption, traditionally ten mega-watts or smaller. While DG is not a new concept, DG is gaining widespread interest primarily for the following reasons: increase in customer demand, advancements in technology, economics, deregulation, environmental and national security concerns. The distribution power system traditionally has been designed for radial power flow, but with the introduction of DG, the power flow becomes bidirectional. As a result, conventional power analysis tools and techniques are not able to properly assess the impact of DG on the electrical system. The presence of DG on the distribution system creates an array of potential problems related to safety, stability, reliability and security of the electrical system. Distributed generation on a power system affects the voltages, power flow, short circuit currents, losses and other power system analysis results. Whether the impact of the DG is positive or negative on the system will depend primarily on the location and size of the DG. The objective of this research is to develop indices and an effective technique to evaluate the impact of distributed generation on a distribution power system and to employ the particle swarm optimization technique to determine the optimal placement and size of the DG unit with an emphasis on improving system reliability while minimizing the following system parameters: power losses, voltage deviation and fault current contributions. This research utilizes the following programs to help solve the optimal DG placement problem: Distribution System Simulator (DSS) and MATLAB. The developed indices and PSO technique successfully solved the optimal DG sizing and placement problem for the I 13-Node, 34-Node and 123-Node Test Cases. The multi-objective index proved to be computational efficient and accurately evaluated the impact of distributed generation on the power system. The results provided valuable information about the system response to single and multiple DG units

Traveling Salesman Problem

The idea behind TSP was conceived by Austrian mathematician Karl Menger in mid 1930s who invited the research community to consider a problem from the everyday life from a mathematical point of view. A traveling salesman has to visit exactly once each one of a list of m cities and then return to the home city. He knows the cost of traveling from any city i to any other city j. Thus, which is the tour of least possible cost the salesman can take? In this book the problem of finding algorithmic technique leading to good/optimal solutions for TSP (or for some other strictly related problems) is considered. TSP is a very attractive problem for the research community because it arises as a natural subproblem in many applications concerning the every day life. Indeed, each application, in which an optimal ordering of a number of items has to be chosen in a way that the total cost of a solution is determined by adding up the costs arising from two successively items, can be modelled as a TSP instance. Thus, studying TSP can never be considered as an abstract research with no real importance

Statistical and image processing techniques for remote sensing in agricultural monitoring and mapping

Throughout most of history, increasing agricultural production has been largely driven by expanded land use, and – especially in the 19th and 20th century – by technological innovation in breeding, genetics and agrochemistry as well as intensification through mechanization and industrialization. More recently, information technology, digitalization and automation have started to play a more significant role in achieving higher productivity with lower environmental impact and reduced use of resources. This includes two trends on opposite scales: precision farming applying detailed observations on sub-field level to support local management, and large-scale agricultural monitoring observing regional patterns in plant health and crop productivity to help manage macroeconomic and environmental trends. In both contexts, remote sensing imagery plays a crucial role that is growing due to decreasing costs and increasing accessibility of both data and means of processing and analysis. The large archives of free imagery with global coverage, can be expected to further increase adoption of remote sensing techniques in coming years. This thesis addresses multiple aspects of remote sensing in agriculture by presenting new techniques in three distinct research topics: (1) remote sensing data assimilation in dynamic crop models; (2) agricultural field boundary detection from remote sensing observations; and (3) contour extraction and field polygon creation from remote sensing imagery. These key objectives are achieved through combining methods of probability analysis, uncertainty quantification, evolutionary learning and swarm intelligence, graph theory, image processing, deep learning and feature extraction. Four new techniques have been developed. Firstly, a new data assimilation technique based on statistical distance metrics and probability distribution analysis to achieve a flexible representation of model- and measurement-related uncertainties. Secondly, a method for detecting boundaries of agricultural fields based on remote sensing observations designed to only rely on image-based information in multi-temporal imagery. Thirdly, an improved boundary detection approach based on deep learning techniques and a variety of image features. Fourthly, a new active contours method called Graph-based Growing Contours (GGC) that allows automatized extractionof complex boundary networks from imagery. The new approaches are tested and evaluated on multiple study areas in the states of Schleswig-Holstein, Niedersachsen and Sachsen-Anhalt, Germany, based on combine harvester measurements, cadastral data and manual mappings. All methods were designed with flexibility and applicability in mind. They proved to perform similarly or better than other existing methods and showed potential for large-scale application and their synergetic use. Thanks to low data requirements and flexible use of inputs, their application is neither constrained to the specific applications presented here nor the use of a specific type of sensor or imagery. This flexibility, in theory, enables their use even outside of the field of remote sensing.Landwirtschaftliche Produktivitätssteigerung wurde historisch hauptsächlich durch Erschließung neuer Anbauflächen und später, insbesondere im 19. und 20. Jahrhundert, durch technologische Innovation in Züchtung, Genetik und Agrarchemie sowie Intensivierung in Form von Mechanisierung und Industrialisierung erreicht. In jüngerer Vergangenheit spielen jedoch Informationstechnologie, Digitalisierung und Automatisierung zunehmend eine größere Rolle, um die Produktivität bei reduziertem Umwelteinfluss und Ressourcennutzung weiter zu steigern. Daraus folgen zwei entgegengesetzte Trends: Zum einen Precision Farming, das mithilfe von Detailbeobachtungen die lokale Feldarbeit unterstützt, und zum anderen großskalige landwirtschaftliche Beobachtung von Bestands- und Ertragsmustern zur Analyse makroökonomischer und ökologischer Trends. In beiden Fällen spielen Fernerkundungsdaten eine entscheidende Rolle und gewinnen dank sinkender Kosten und zunehmender Verfügbarkeit, sowohl der Daten als auch der Möglichkeiten zu ihrer Verarbeitung und Analyse, weiter an Bedeutung. Die Verfügbarkeit großer, freier Archive von globaler Abdeckung werden in den kommenden Jahren voraussichtlich zu einer zunehmenden Verwendung führen. Diese Dissertation behandelt mehrere Aspekte der Fernerkundungsanwendung in der Landwirtschaft und präsentiert neue Methoden zu drei Themenbereichen: (1) Assimilation von Fernerkundungsdaten in dynamischen Agrarmodellen; (2) Erkennung von landwirtschaftlichen Feldgrenzen auf Basis von Fernerkundungsbeobachtungen; und (3) Konturextraktion und Erstellung von Polygonen aus Fernerkundungsaufnahmen. Zur Bearbeitung dieser Zielsetzungen werden verschiedene Techniken aus der Wahrscheinlichkeitsanalyse, Unsicherheitsquantifizierung, dem evolutionären Lernen und der Schwarmintelligenz, der Graphentheorie, dem Bereich der Bildverarbeitung, Deep Learning und Feature-Extraktion kombiniert. Es werden vier neue Methoden vorgestellt. Erstens, eine neue Methode zur Datenassimilation basierend auf statistischen Distanzmaßen und Wahrscheinlichkeitsverteilungen zur flexiblen Abbildung von Modell- und Messungenauigkeiten. Zweitens, eine neue Technik zur Erkennung von Feldgrenzen, ausschließlich auf Basis von Bildinformationen aus multi-temporalen Fernerkundungsdaten. Drittens, eine verbesserte Feldgrenzenerkennung basierend auf Deep Learning Methoden und verschiedener Bildmerkmale. Viertens, eine neue Aktive Kontur Methode namens Graph-based Growing Contours (GGC), die es erlaubt, komplexe Netzwerke von Konturen aus Bildern zu extrahieren. Alle neuen Ansätze werden getestet und evaluiert anhand von Mähdreschermessungen, Katasterdaten und manuellen Kartierungen in verschiedenen Testregionen in den Bundesländern Schleswig-Holstein, Niedersachsen und Sachsen-Anhalt. Alle vorgestellten Methoden sind auf Flexibilität und Anwendbarkeit ausgelegt. Im Vergleich zu anderen Methoden zeigten sie vergleichbare oder bessere Ergebnisse und verdeutlichten das Potenzial zur großskaligen Anwendung sowie kombinierter Verwendung. Dank der geringen Anforderungen und der flexiblen Verwendung verschiedener Eingangsdaten ist die Nutzung nicht nur auf die hier beschriebenen Anwendungen oder bestimmte Sensoren und Bilddaten beschränkt. Diese Flexibilität erlaubt theoretisch eine breite Anwendung, auch außerhalb der Fernerkundung

Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization

Within the field of multi-robot systems, multi-robot search is one area which is currently receiving a lot of research attention. One major challenge within this area is to design effective algorithms that allow a team of robots to work together to find their targets. Recently, techniques have been adopted for multi-robot search from the Particle Swarm Optimization algorithm, which uses a virtual multi-agent search to find optima in a multi-dimensional function space. We present here a multi-search algorithm inspired by Particle Swarm Optimization. Additionally, we exploit this inspiration by modifying the Particle Swarm Optimization algorithm to mimic the multi-robot search process, thereby allowing us to model at an abstracted level the effects of changing aspects and parameters of the system such as number of robots and communication range

Optimal operation of dams/reservoirs emphasizing potential environmental and climate change impacts

Mahdi studied the potential ecological and climate change impacts on management of dams. He developed several new optimization frameworks in which benefits of dams are maximized, while above impacts are mitigated. Governments and consulting engineers can use the proposed frameworks for managing dams considering environmental challenges in river basins