Guidance and search algorithms for mobile robots: application and analysis within the context of urban search and rescue

Urban Search and Rescue is a dangerous task for rescue workers and for this reason the use of mobile robots to carry out the search of the environment is becoming common place. These robots are remotely operated and the search is carried out by the robot operator. This work proposes that common search algorithms can be used to guide a single autonomous mobile robot in a search of an environment and locate survivors within the environment. This work then goes on to propose that multiple robots, guided by the same search algorithms, will carry out this task in a quicker time. The work presented is split into three distinct parts. The first is the development of a nonlinear mathematical model for a mobile robot. The model developed is validated against a physical system. A suitable navigation and control system is required to direct the robot to a target point within an environment. This is the second part of this work. The final part of this work presents the search algorithms used. The search algorithms generate the target points which allow the robot to search the environment. These algorithms are based on traditional and modern search algorithms that will enable a single mobile robot to search an area autonomously. The best performing algorithms from the single robot case are then adapted to a multi robot case. The mathematical model presented in the thesis describes the dynamics and kinematics of a four wheeled mobile ground based robot. The model is developed to allow the design and testing of control algorithms offline. With the model and accompanying simulation the search algorithms can be quickly and repeatedly tested without practical installation. The mathematical model is used as the basis of design for the manoeuvring control algorithm and the search algorithms. This design process is based on simulation studies. In the first instance the control methods investigated are Proportional-Integral-Derivative, Pole Placement and Sliding Mode. Each method is compared using the tracking error, the steady state error, the rise time, the charge drawn from the battery and the ability to control the robot through a simple motion. Obstacle avoidance is also covered as part of the manoeuvring control algorithm. The final aspect investigated is the search algorithms. The following search algorithms are investigated, Lawnmower, Random, HillClimbing, Simulated Annealing and Genetic Algorithms. Variations on these algorithms are also investigated. The variations are based on Tabu Search. Each of the algorithms is investigated in a single robot case with the best performing investigated within a multi robot case. A comparison between the different methods is made based on the percentage of the area covered within the time available, the number of targets located and the time taken to locate targets. It is shown that in the single robot case the best performing algorithms have high random elements and some structure to selecting points. Within the multi robot case it is shown that some algorithms work well and others do not. It is also shown that the useable number of robots is dependent on the size of the environment. This thesis concludes with a discussion on the best control and search algorithms, as indicated by the results, for guiding single and multiple autonomous mobile robots. The advantages of the methods are presented, as are the issues with using the methods stated. Suggestions for further work are also presented

Connectionist Theory Refinement: Genetically Searching the Space of Network Topologies

An algorithm that learns from a set of examples should ideally be able to exploit the available resources of (a) abundant computing power and (b) domain-specific knowledge to improve its ability to generalize. Connectionist theory-refinement systems, which use background knowledge to select a neural network's topology and initial weights, have proven to be effective at exploiting domain-specific knowledge; however, most do not exploit available computing power. This weakness occurs because they lack the ability to refine the topology of the neural networks they produce, thereby limiting generalization, especially when given impoverished domain theories. We present the REGENT algorithm which uses (a) domain-specific knowledge to help create an initial population of knowledge-based neural networks and (b) genetic operators of crossover and mutation (specifically designed for knowledge-based networks) to continually search for better network topologies. Experiments on three real-world domains indicate that our new algorithm is able to significantly increase generalization compared to a standard connectionist theory-refinement system, as well as our previous algorithm for growing knowledge-based networks.Comment: See http://www.jair.org/ for any accompanying file

PeptX: Using Genetic Algorithms to optimize peptides for MHC binding

<p>Abstract</p> <p>Background</p> <p>The binding between the major histocompatibility complex and the presented peptide is an indispensable prerequisite for the adaptive immune response. There is a plethora of different <it>in silico </it>techniques for the prediction of the peptide binding affinity to major histocompatibility complexes. Most studies screen a set of peptides for promising candidates to predict possible T cell epitopes. In this study we ask the question vice versa: Which peptides do have highest binding affinities to a given major histocompatibility complex according to certain <it>in silico </it>scoring functions?</p> <p>Results</p> <p>Since a full screening of all possible peptides is not feasible in reasonable runtime, we introduce a heuristic approach. We developed a framework for Genetic Algorithms to optimize peptides for the binding to major histocompatibility complexes. In an extensive benchmark we tested various operator combinations. We found that (1) selection operators have a strong influence on the convergence of the population while recombination operators have minor influence and (2) that five different binding prediction methods lead to five different sets of "optimal" peptides for the same major histocompatibility complex. The consensus peptides were experimentally verified as high affinity binders.</p> <p>Conclusion</p> <p>We provide a generalized framework to calculate sets of high affinity binders based on different previously published scoring functions in reasonable runtime. Furthermore we give insight into the different behaviours of operators and scoring functions of the Genetic Algorithm.</p

A toolbox and a record for scientific model development

Scientific computation can benefit from software tools that facilitate construction of computational models, control the application of models, and aid in revising models to handle new situations. Existing environments for scientific programming provide only limited means of handling these tasks. This paper describes a two pronged approach for handling these tasks: (1) designing a 'Model Development Toolbox' that includes a basic set of model constructing operations; and (2) designing a 'Model Development Record' that is automatically generated during model construction. The record is subsequently exploited by tools that control the application of scientific models and revise models to handle new situations. Our two pronged approach is motivated by our belief that the model development toolbox and record should be highly interdependent. In particular, a suitable model development record can be constructed only when models are developed using a well defined set of operations. We expect this research to facilitate rapid development of new scientific computational models, to help ensure appropriate use of such models and to facilitate sharing of such models among working computational scientists. We are testing this approach by extending SIGMA, and existing knowledge-based scientific software design tool

Working Notes from the 1992 AAAI Workshop on Automating Software Design. Theme: Domain Specific Software Design

The goal of this workshop is to identify different architectural approaches to building domain-specific software design systems and to explore issues unique to domain-specific (vs. general-purpose) software design. Some general issues that cut across the particular software design domain include: (1) knowledge representation, acquisition, and maintenance; (2) specialized software design techniques; and (3) user interaction and user interface

Deterministic Artificial Intelligence

Kirchhoff’s laws give a mathematical description of electromechanics. Similarly, translational motion mechanics obey Newton’s laws, while rotational motion mechanics comply with Euler’s moment equations, a set of three nonlinear, coupled differential equations. Nonlinearities complicate the mathematical treatment of the seemingly simple action of rotating, and these complications lead to a robust lineage of research culminating here with a text on the ability to make rigid bodies in rotation become self-aware, and even learn. This book is meant for basic scientifically inclined readers commencing with a first chapter on the basics of stochastic artificial intelligence to bridge readers to very advanced topics of deterministic artificial intelligence, espoused in the book with applications to both electromechanics (e.g. the forced van der Pol equation) and also motion mechanics (i.e. Euler’s moment equations). The reader will learn how to bestow self-awareness and express optimal learning methods for the self-aware object (e.g. robot) that require no tuning and no interaction with humans for autonomous operation. The topics learned from reading this text will prepare students and faculty to investigate interesting problems of mechanics. It is the fondest hope of the editor and authors that readers enjoy the book

Satisfying flexible due dates in fuzzy job shop by means of hybrid evolutionary algorithms

This paper tackles the job shop scheduling problem with fuzzy sets modelling uncertain durations and flexible due dates. The objective is to achieve high-service level by maximising due-date satisfaction, considering two different overall satisfaction measures as objective functions. We show how these functions model different attitudes in the framework of fuzzy multicriteria decision making and we define a measure of solution robustness based on an existing a-posteriori semantics of fuzzy schedules to further assess the quality of the obtained solutions. As solving method, we improve a memetic algorithm from the literature by incorporating a new heuristic mechanism to guide the search through plateaus of the fitness landscape. We assess the performance of the resulting algorithm with an extensive experimental study, including a parametric analysis, and a study of the algorithm’s components and synergy between them. We provide results on a set of existing and new benchmark instances for fuzzy job shop with flexible due dates that show the competitiveness of our method.This research has been supported by the Spanish Government under research grant TIN2016-79190-R

Gene Knockout Identification Using an Extension of Bees Hill Flux Balance Analysis

Microbial strain optimisation for the overproduction of a desired phenotype has been a popular topic in recent years. Gene knockout is a genetic engineering technique that can modify the metabolism of microbial cells to obtain desirable phenotypes. Optimisation algorithms have been developed to identify the effects of gene knockout. However, the complexities of metabolic networks have made the process of identifying the effects of genetic modification on desirable phenotypes challenging. Furthermore, a vast number of reactions in cellular metabolism often lead to a combinatorial problem in obtaining optimal gene knockout. The computational time increases exponentially as the size of the problem increases. This work reports an extension of Bees Hill Flux Balance Analysis (BHFBA) to identify optimal gene knockouts to maximise the production yield of desired phenotypes while sustaining the growth rate. This proposed method functions by integrating OptKnock into BHFBA for validating the results automatically. The results show that the extension of BHFBA is suitable, reliable, and applicable in predicting gene knockout. Through several experiments conducted on Escherichia coli, Bacillus subtilis, and Clostridium thermocellum as model organisms, extension of BHFBA has shown better performance in terms of computational time, stability, growth rate, and production yield of desired phenotypes