Design of neuro-fuzzy models by evolutionary and gradient-based algorithms

All systems found in nature exhibit, with different degrees, a nonlinear behavior. To emulate this behavior, classical systems identification techniques use, typically, linear models, for mathematical simplicity. Models inspired by biological principles (artificial neural networks) and linguistically motivated (fuzzy systems), due to their universal approximation property, are becoming alternatives to classical mathematical models. In systems identification, the design of this type of models is an iterative process, requiring, among other steps, the need to identify the model structure, as well as the estimation of the model parameters. This thesis addresses the applicability of gradient-basis algorithms for the parameter estimation phase, and the use of evolutionary algorithms for model structure selection, for the design of neuro-fuzzy systems, i.e., models that offer the transparency property found in fuzzy systems, but use, for their design, algorithms introduced in the context of neural networks. A new methodology, based on the minimization of the integral of the error, and exploiting the parameter separability property typically found in neuro-fuzzy systems, is proposed for parameter estimation. A recent evolutionary technique (bacterial algorithms), based on the natural phenomenon of microbial evolution, is combined with genetic programming, and the resulting algorithm, bacterial programming, advocated for structure determination. Different versions of this evolutionary technique are combined with gradient-based algorithms, solving problems found in fuzzy and neuro-fuzzy design, namely incorporation of a-priori knowledge, gradient algorithms initialization and model complexity reduction.Todos os sistemas encontrados na natureza exibem, com maior ou menor grau, um comportamento linear. De modo a emular esse comportamento, as técnicas de identificação clássicas usam, tipicamente e por simplicidade matemática, modelos lineares. Devido à sua propriedade de aproximação universal, modelos inspirados por princípios biológicos (redes neuronais artificiais) e motivados linguisticamente (sistemas difusos) tem sido cada vez mais usados como alternativos aos modelos matemáticos clássicos. Num contexto de identificação de sistemas, o projeto de modelos como os acima descritos é um processo iterativo, constituído por vários passos. Dentro destes, encontra-se a necessidade de identificar a estrutura do modelo a usar, e a estimação dos seus parâmetros. Esta Tese discutirá a aplicação de algoritmos baseados em derivadas para a fase de estimação de parâmetros, e o uso de algoritmos baseados na teoria da evolução de espécies, algoritmos evolutivos, para a seleção de estrutura do modelo. Isto será realizado no contexto do projeto de modelos neuro-difusos, isto é, modelos que simultaneamente exibem a propriedade de transparência normalmente associada a sistemas difusos mas que utilizam, para o seu projeto algoritmos introduzidos no contexto de redes neuronais. Os modelos utilizados neste trabalho são redes B-Spline, de Função de Base Radial, e sistemas difusos dos tipos Mamdani e Takagi-Sugeno. Neste trabalho começa-se por explorar, para desenho de redes B-Spline, a introdução de conhecimento à-priori existente sobre um processo. Neste sentido, aplica-se uma nova abordagem na qual a técnica para a estimação dos parâmetros é alterada a fim de assegurar restrições de igualdade da função e das suas derivadas. Mostra-se ainda que estratégias de determinação de estrutura do modelo, baseadas em computação evolutiva ou em heurísticas determinísticas podem ser facilmente adaptadas a este tipo de modelos restringidos. É proposta uma nova técnica evolutiva, resultante da combinação de algoritmos recentemente introduzidos (algoritmos bacterianos, baseados no fenómeno natural de evolução microbiana) e programação genética. Nesta nova abordagem, designada por programação bacteriana, os operadores genéticos são substituídos pelos operadores bacterianos. Deste modo, enquanto a mutação bacteriana trabalha num indivíduo, e tenta otimizar a bactéria que o codifica, a transferência de gene é aplicada a toda a população de bactérias, evitando-se soluções de mínimos locais. Esta heurística foi aplicada para o desenho de redes B-Spline. O desempenho desta abordagem é ilustrada e comparada com alternativas existentes. Para a determinação dos parâmetros de um modelo são normalmente usadas técnicas de otimização locais, baseadas em derivadas. Como o modelo em questão é não-linear, o desempenho deste género de técnicas é influenciado pelos pontos de partida. Para resolver este problema, é proposto um novo método no qual é usado o algoritmo evolutivo referido anteriormente para determinar pontos de partida mais apropriados para o algoritmo baseado em derivadas. Deste modo, é aumentada a possibilidade de se encontrar um mínimo global. A complexidade dos modelos neuro-difusos (e difusos) aumenta exponencialmente com a dimensão do problema. De modo a minorar este problema, é proposta uma nova abordagem de particionamento do espaço de entrada, que é uma extensão das estratégias de decomposição de entrada normalmente usadas para este tipo de modelos. Simulações mostram que, usando esta abordagem, se pode manter a capacidade de generalização com modelos de menor complexidade. Os modelos B-Spline são funcionalmente equivalentes a modelos difusos, desde que certas condições sejam satisfeitas. Para os casos em que tal não acontece (modelos difusos Mamdani genéricos), procedeu-se à adaptação das técnicas anteriormente empregues para as redes B-Spline. Por um lado, o algoritmo Levenberg-Marquardt é adaptado e a fim de poder ser aplicado ao particionamento do espaço de entrada de sistema difuso. Por outro lado, os algoritmos evolutivos de base bacteriana são adaptados para sistemas difusos, e combinados com o algoritmo de Levenberg-Marquardt, onde se explora a fusão das características de cada metodologia. Esta hibridização dos dois algoritmos, denominada de algoritmo bacteriano memético, demonstrou, em vários problemas de teste, apresentar melhores resultados que alternativas conhecidas. Os parâmetros dos modelos neuronais utilizados e dos difusos acima descritos (satisfazendo no entanto alguns critérios) podem ser separados, de acordo com a sua influência na saída, em parâmetros lineares e não-lineares. Utilizando as consequências desta propriedade nos algoritmos de estimação de parâmetros, esta Tese propõe também uma nova metodologia para estimação de parâmetros, baseada na minimização do integral do erro, em alternativa à normalmente utilizada minimização da soma do quadrado dos erros. Esta técnica, além de possibilitar (em certos casos) um projeto totalmente analítico, obtém melhores resultados de generalização, dado usar uma superfície de desempenho mais similar aquela que se obteria se se utilizasse a função geradora dos dados

Machine Learning with Metaheuristic Algorithms for Sustainable Water Resources Management

The main aim of this book is to present various implementations of ML methods and metaheuristic algorithms to improve modelling and prediction hydrological and water resources phenomena having vital importance in water resource management

Combining Sensors and Multibody Models for Applications in Vehicles, Machines, Robots and Humans

The combination of physical sensors and computational models to provide additional information about system states, inputs and/or parameters, in what is known as virtual sensing, is becoming increasingly popular in many sectors, such as the automotive, aeronautics, aerospatial, railway, machinery, robotics and human biomechanics sectors. While, in many cases, control-oriented models, which are generally simple, are the best choice, multibody models, which can be much more detailed, may be better suited to some applications, such as during the design stage of a new product

Feature-based hybrid inspection planning for complex mechanical parts

Globalization and emerging new powers in the manufacturing world are among many challenges, major manufacturing enterprises are facing. This resulted in increased alternatives to satisfy customers\u27 growing needs regarding products\u27 aesthetic and functional requirements. Complexity of part design and engineering specifications to satisfy such needs often require a better use of advanced and more accurate tools to achieve good quality. Inspection is a crucial manufacturing function that should be further improved to cope with such challenges. Intelligent planning for inspection of parts with complex geometric shapes and free form surfaces using contact or non-contact devices is still a major challenge. Research in segmentation and localization techniques should also enable inspection systems to utilize modern measurement technologies capable of collecting huge number of measured points. Advanced digitization tools can be classified as contact or non-contact sensors. The purpose of this thesis is to develop a hybrid inspection planning system that benefits from the advantages of both techniques. Moreover, the minimization of deviation of measured part from the original CAD model is not the only characteristic that should be considered when implementing the localization process in order to accept or reject the part; geometric tolerances must also be considered. A segmentation technique that deals directly with the individual points is a necessary step in the developed inspection system, where the output is the actual measured points, not a tessellated model as commonly implemented by current segmentation tools. The contribution of this work is three folds. First, a knowledge-based system was developed for selecting the most suitable sensor using an inspection-specific features taxonomy in form of a 3D Matrix where each cell includes the corresponding knowledge rules and generate inspection tasks. A Travel Salesperson Problem (TSP) has been applied for sequencing these hybrid inspection tasks. A novel region-based segmentation algorithm was developed which deals directly with the measured point cloud and generates sub-point clouds, each of which represents a feature to be inspected and includes the original measured points. Finally, a new tolerance-based localization algorithm was developed to verify the functional requirements and was applied and tested using form tolerance specifications. This research enhances the existing inspection planning systems for complex mechanical parts with a hybrid inspection planning model. The main benefits of the developed segmentation and tolerance-based localization algorithms are the improvement of inspection decisions in order not to reject good parts that would have otherwise been rejected due to misleading results from currently available localization techniques. The better and more accurate inspection decisions achieved will lead to less scrap, which, in turn, will reduce the product cost and improve the company potential in the market

Development of a sustainable groundwater management strategy and sequential compliance monitoring to control saltwater intrusion in coastal aquifers

The coastal areas of the world are characterized by high population densities, an abundance of food, and increased economic activities. These increasing human settlements, subsequent increases in agricultural developments and economic activities demand an increasing amount quantity of freshwater supplies to different sectors. Groundwater in coastal aquifers is one of the most important sources of freshwater supplies. Over exploitation of this coastal groundwater resource results in seawater intrusion and subsequent deterioration of groundwater quality in coastal aquifers. In addition, climate change induced sea level rise, in combination with the effect of excessive groundwater extraction, can accelerate the seawater intrusion. Adequate supply of good quality water to different sectors in coastal areas can be ensured by adoption of a proper management strategy for groundwater extraction. Optimal use of the coastal groundwater resource is one of the best management options, which can be achieved by employing a properly developed optimal groundwater extraction strategy. Coupled simulation-optimization (S-O) approaches are essential tools to obtain the optimal groundwater extraction patterns. This study proposes approaches for developing multiple objective management of coastal aquifers with the aid of barrier extraction wells as hydraulic control measure of saltwater intrusion in multilayered coastal aquifer systems. Therefore, two conflicting objectives of management policy are considered in this research, i.e. maximizing total groundwater extraction for advantageous purposes, and minimizing the total amount of water abstraction from barrier extraction wells. The study also proposes an adaptive management strategy for coastal aquifers by developing a three-dimensional (3-D) monitoring network design. The performance of the proposed methodologies is evaluated by using both an illustrative multilayered coastal aquifer system and a real life coastal aquifer study area. Coupled S-O approach is used as the basic tool to develop a saltwater intrusion management model to obtain the optimal groundwater extraction rates from a combination of feasible solutions on the Pareto optimal front. Simulation of saltwater intrusion processes requires solution of density dependent coupled flow and solute transport numerical simulation models that are computationally intensive. Therefore, computational efficiency in the coupled S-O approach is achieved by using an approximate emulator of the accompanying physical processes of coastal aquifers. These emulators, often known as surrogate models or meta-models, can replace the computationally intensive numerical simulation model in a coupled S-O approach for achieving computational efficiency. A number of meta-models have been developed and compared in this study for integration with the optimization algorithm in order to develop saltwater intrusion management model. Fuzzy Inference System (FIS), Adaptive Neuro Fuzzy Inference System (ANFIS), Multivariate Adaptive Regression Spline (MARS), and Gaussian Process Regression (GPR) based meta-models are developed in the present study for approximating coastal aquifer responses to groundwater extraction. Properly trained and tested meta-models are integrated with a Controlled Elitist Multiple Objective Genetic Algorithm (CEMOGA) within a coupled S-O approach. In each iteration of the optimization algorithm, the meta-models are used to compute the corresponding salinity concentrations for a set of candidate pumping patterns generated by the optimization algorithm. Upon convergence, the non-dominated global optimal solutions are obtained as the Pareto optimal front, which represents a trade-off between the two conflicting objectives of the pumping management problem. It is observed from the solutions of the meta-model based coupled S-O approach that the considered meta-models are capable of producing a Pareto optimal set of solutions quite accurately. However, each meta-modelling approach has distinct advantages over the others when utilized within the integrated S-O approach. Uncertainties in estimating complex flow and solute transport processes in coastal aquifers demand incorporation of the uncertainties related to some of the model parameters. Multidimensional heterogeneity of aquifer properties such as hydraulic conductivity, compressibility, and bulk density are considered as major sources of uncertainty in groundwater modelling system. Other sources of uncertainty are associated with spatial and temporal variability of hydrologic as well as human interventions, e.g. aquifer recharge and transient groundwater extraction patterns. Different realizations of these uncertain model parameters are obtained from different statistical distributions. FIS based meta-models are advanced to a Genetic Algorithm (GA) tuned hybrid FIS model (GA-FIS), to emulate physical processes of coastal aquifers and to evaluate responses of the coastal aquifers to groundwater extraction under groundwater parameter uncertainty. GA is used to tune the FIS parameters in order to obtain the optimal FIS structure. The GA-FIS models thus obtained are linked externally to the CEMOGA in order to derive an optimal pumping management strategy using the coupled S-O approach. The evaluation results show that the proposed saltwater intrusion management model is able to derive reliable optimal groundwater extraction strategies to control saltwater intrusion for the illustrative multilayered coastal aquifer system. The optimal management strategies obtained as solutions of GA-FIS based management models are shown to be reliable and accurate within the specified ranges of values for different realizations of uncertain groundwater parameters. One of the major concerns of the meta-model based integrated S-O approach is the uncertainty associated with the meta-model predictions. These prediction uncertainties, if not addressed properly, may propagate to the optimization procedures, and may deteriorate the optimality of the solutions. A standalone meta-model, when used within an optimal management model, may result in the optimization routine producing actually suboptimal solutions that may undermine the optimality of the groundwater extraction strategies. Therefore, this study proposes an ensemble approach to address the prediction uncertainties of meta-models. Ensemble is an approach to assimilate multiple similar or different algorithms or base learners (emulators). The basic idea of ensemble lies in developing a more reliable and robust prediction tool that incorporates each individual emulator's unique characteristic in order to predict future scenarios. Each individual member of the ensemble contains different input -output mapping functions. Based on their own mapping functions, these individual emulators provide varied predictions on the response variable. Therefore, the combined prediction of the ensemble is likely to be less biased and more robust, reliable, and accurate than that of any of the individual members of the ensemble. Performance of the ensemble meta-models is evaluated using an illustrative coastal aquifer study area. The results indicate that the meta-model based ensemble modelling approach is able to provide reliable solutions for a multilayered coastal aquifer management problem. Relative sea level rise, providing an additional saline water head at the seaside, has a significant impact on an increase in the salinization process of the coastal aquifers. Although excessive groundwater withdrawal is considered as the major cause of saltwater intrusion, relative sea level rise, in combination with the effect of excessive groundwater pumping, can exacerbate the already vulnerable coastal aquifers. This study incorporates the effects of relative sea level rise on the optimized groundwater extraction values for the specified management period. Variation of water concentrations in the tidal river and seasonal fluctuation of river water stage are also incorporated. Three meta-models are developed from the solution results of the numerical simulation model that simulates the coupled flow and solute transport processes in a coastal aquifer system. The results reveal that the proposed meta-models are capable of predicting density dependent coupled flow and solute transport patterns quite accurately. Based on the comparison results, the best meta-model is selected as a computationally cheap substitute of the simulation model in the coupled S-O based saltwater intrusion management model. The performance of the proposed methodology is evaluated for an illustrative multilayered coastal aquifer system in which the effect of climate change induced sea level rise is incorporated for the specified management period. The results show that the proposed saltwater intrusion management model provides acceptable, accurate, and reliable solutions while significantly improving computational efficiency in the coupled S-O methodology. The success of the developed management strategy largely depends on how accurately the prescribed management policy is implemented in real life situations. The actual implementation of a prescribed management strategy often differs from the prescribed planned strategy due to various uncertainties in predicting the consequences, as well as practical constraints, including noncompliance with the prescribed strategy. This results in actual consequences of a management strategy differing from the intended results. To bring the management consequences closer to the intended results, adaptive management strategies can be sequentially modified at different stages of the management horizon using feedback measurements from a deigned monitoring network. This feedback information can be the actual spatial and temporal concentrations resulting from the implementation of actual management strategy. Therefore, field-scale compliance of the developed coastal aquifer management strategy is a crucial aspect of an optimally designed groundwater extraction policy. A 3-D compliance monitoring network design methodology is proposed in this study in order to develop an adaptive and sequentially modified management policy, which aims to improve optimal and justifiable use of groundwater resources in coastal aquifers. In the first step, an ensemble meta-model based multiple objective prescriptive model is developed using a coupled S-O approach in order to derive a set of Pareto optimal groundwater extraction strategies. Prediction uncertainty of meta-models is addressed by utilizing a weighted average ensemble using Set Pair Analysis. In the second step, a monitoring network is designed for evaluating the compliance of the implemented strategies with the prescribed management goals due to possible uncertainties associated with field-scale application of the proposed management policy. Optimal monitoring locations are obtained by maximizing Shannon's entropy between the saltwater concentrations at the selected potential locations. Performance of the proposed 3-D sequential compliance monitoring network design is assessed for an illustrative multilayered coastal aquifer study area. The performance evaluations show that sequential improvements of optimal management strategy are possible by utilizing saltwater concentrations measurements at the proposed optimal compliance monitoring locations. The integrated S-O approach is used to develop a saltwater intrusion management model for a real world coastal aquifer system in the Barguna district of southern Bangladesh. The aquifer processes are simulated by using a 3-D finite element based combined flow and solute transport numerical code. The modelling and management of seawater intrusion processes are performed based on very limited hydrogeological data. The model is calibrated with respect to hydraulic heads for a period of five years from April 2010 to April 2014. The calibrated model is validated for the next three-year period from April 2015 to April 2017. The calibrated and partially validated model is then used within the integrated S-O approach to develop optimal groundwater abstraction patterns to control saltwater intrusion in the study area. Computational efficiency of the management model is achieved by using a MARS based meta-model approximately emulating the combined flow and solute transport processes of the study area. This limited evaluation demonstrates that a planned transient groundwater abstraction strategy, acquired as solution results of a meta-model based integrated S-O approach, is a useful management strategy for optimized water abstraction and saltwater intrusion control. This study shows the capability of the MARS meta-model based integrated S-O approach to solve real-life complex management problems in an efficient manner

Hourly Dispatching Wind-Solar Hybrid Power System with Battery-Supercapacitor Hybrid Energy Storage

This dissertation demonstrates a dispatching scheme of wind-solar hybrid power system (WSHPS) for a specific dispatching horizon for an entire day utilizing a hybrid energy storage system (HESS) configured by batteries and supercapacitors. Here, wind speed and solar irradiance are predicted one hour ahead of time using a multilayer perceptron Artificial Neural Network (ANN), which exhibits satisfactory performance with good convergence mapping between input and target output data. Furthermore, multiple state of charge (SOC) controllers as a function of energy storage system (ESS) SOC are developed to accurately estimate the grid reference power (PGrid,ref) for each dispatching period. A low pass filter (LPF) is employed to decouple the power between a battery and a supercapacitor (SC), and the cost optimization of the HESS is computed based on the time constant of the LPF through extensive simulations. Besides, the optimum value of depth of discharge for ESS considering both cycling and calendar expenses has been investigated to optimize the life cycle cost of the ESS, which is vital for minimizing the cost of a dispatchable wind-solar power scheme. Finally, the proposed ESS control algorithm is verified by conducting control hardware-in-the loop (CHIL) experiments in a real-time digital simulator (RTDS) platform

Hybrid Dynamic Modelling of Engine Emissions on Multi-Physics Simulation Platform. A Framework Combining Dynamic and Statistical Modelling to Develop Surrogate Models of System of Internal Combustion Engine for Emission Modelling

The data-driven models used for the design of powertrain controllers are typically based on the data obtained from steady-state experiments. However, they are only valid under stable conditions and do not provide any information on the dynamic behaviour of the system. In order to capture this behaviour, dynamic modelling techniques are intensively studied to generate alternative solutions for engine mapping and calibration problem, aiming to address the need to increase productivity (reduce development time) and to develop better models for the actual behaviour of the engine under real-world conditions. In this thesis, a dynamic modelling approach is presented undertaken for the prediction of NOx emissions for a 2.0 litre Diesel engine, based on a coupled pre-validated virtual Diesel engine model (GT- Suite ® 1-D air path model) and in-cylinder combustion model (CMCL ® Stochastic Reactor Model Engine Suite). In the context of the considered Engine Simulation Framework, GT Suite + Stochastic Reactor Model (SRM), one fundamental problem is to establish a real time stochastic simulation capability. This problem can be addressed by replacing the slow combustion chemistry solver (SRM) with an appropriate NOx surrogate model. The approach taken in this research for the development of this surrogate model was based on a combination of design of dynamic experiments run on the virtual diesel engine model (GT- Suite), with a dynamic model fitted for the parameters required as input to the SRM, with a zonal design of experiments (DoEs), using Optimal Latin Hypercubes (OLH), run on the SRM model. A response surface model was fitted on the predicted NOx from the SRM OLH DoE data. This surrogate NOx model was then used to replace the computationally expensive SRM simulation, enabling real-time simulations of transient drive cycles to be executed. The performance of the approach was validated on a simulated NEDC drive cycle, against experimental data collected for the engine case study. The capability of methodology to capture the transient trends of the system shows promising results and will be used for the development of global surrogate prediction models for engine-out emissions