Real time tracking using nature-inspired algorithms

This thesis investigates the core difficulties in the tracking field of computer vision. The aim is to develop a suitable tuning free optimisation strategy so that a real time tracking could be achieved. The population and multi-solution based approaches have been applied first to analyse the convergence behaviours in the evolutionary test cases. The aim is to identify the core misconceptions in the manner the search characteristics of particles are defined in the literature. A general perception in the scientific community is that the particle based methods are not suitable for the real time applications. This thesis improves the convergence properties of particles by a novel scale free correlation approach. By altering the fundamental definition of a particle and by avoiding the nostalgic operations the tracking was expedited to a rate of 250 FPS. There is a reasonable amount of similarity between the tracking landscapes and the ones generated by three dimensional evolutionary test cases. Several experimental studies are conducted that compares the performances of the novel optimisation to the ones observed with the swarming methods. It is therefore concluded that the modified particle behaviour outclassed the traditional approaches by huge margins in almost every test scenario

Scheduling Problems

Scheduling is defined as the process of assigning operations to resources over time to optimize a criterion. Problems with scheduling comprise both a set of resources and a set of a consumers. As such, managing scheduling problems involves managing the use of resources by several consumers. This book presents some new applications and trends related to task and data scheduling. In particular, chapters focus on data science, big data, high-performance computing, and Cloud computing environments. In addition, this book presents novel algorithms and literature reviews that will guide current and new researchers who work with load balancing, scheduling, and allocation problems

An Approach Based on Particle Swarm Optimization for Inspection of Spacecraft Hulls by a Swarm of Miniaturized Robots

The remoteness and hazards that are inherent to the operating environments of space infrastructures promote their need for automated robotic inspection. In particular, micrometeoroid and orbital debris impact and structural fatigue are common sources of damage to spacecraft hulls. Vibration sensing has been used to detect structural damage in spacecraft hulls as well as in structural health monitoring practices in industry by deploying static sensors. In this paper, we propose using a swarm of miniaturized vibration-sensing mobile robots realizing a network of mobile sensors. We present a distributed inspection algorithm based on the bio-inspired particle swarm optimization and evolutionary algorithm niching techniques to deliver the task of enumeration and localization of an a priori unknown number of vibration sources on a simplified 2.5D spacecraft surface. Our algorithm is deployed on a swarm of simulated cm-scale wheeled robots. These are guided in their inspection task by sensing vibrations arising from failure points on the surface which are detected by on-board accelerometers. We study three performance metrics: (1) proximity of the localized sources to the ground truth locations, (2) time to localize each source, and (3) time to finish the inspection task given a 75% inspection coverage threshold. We find that our swarm is able to successfully localize the present so

The role of visual adaptation in cichlid fish speciation

D. Shane Wright (1) , Ole Seehausen (2), Ton G.G. Groothuis (1), Martine E. Maan (1) (1) University of Groningen; GELIFES; EGDB(2) Department of Fish Ecology & Evolution, EAWAG Centre for Ecology, Evolution and Biogeochemistry, Kastanienbaum AND Institute of Ecology and Evolution, Aquatic Ecology, University of Bern.In less than 15,000 years, Lake Victoria cichlid fishes have radiated into as many as 500 different species. Ecological and sexual sel ection are thought to contribute to this ongoing speciation process, but genetic differentiation remains low. However, recent work in visual pigment genes, opsins, has shown more diversity. Unlike neighboring Lakes Malawi and Tanganyika, Lake Victoria is highly turbid, resulting in a long wavelength shift in the light spectrum with increasing depth, providing an environmental gradient for exploring divergent coevolution in sensory systems and colour signals via sensory drive. Pundamilia pundamila and Pundamilia nyererei are two sympatric species found at rocky islands across southern portions of Lake Victoria, differing in male colouration and the depth they reside. Previous work has shown species differentiation in colour discrimination, corresponding to divergent female preferences for conspecific male colouration. A mechanistic link between colour vision and preference would provide a rapid route to reproductive isolation between divergently adapting populations. This link is tested by experimental manip ulation of colour vision - raising both species and their hybrids under light conditions mimicking shallow and deep habitats. We quantify the expression of retinal opsins and test behaviours important for speciation: mate choice, habitat preference, and fo raging performance