Object Detection using Particle Swarm Optimisation and Kalman Filter to Track Partially occluded Targets

Motion estimation, object detection, and tracking have been actively pursued by researchers in the field of real time video processing. In the present work, a new algorithm is proposed to automatically detect objects using revised local binary pattern (m-LBP) for object detection. The detected object was tracked and its location estimated using the Kalman filter, whose state covariance matrix was tuned using particle swarm optimisation (PSO). PSO, being a nature inspired algorithm, is a well proven optimization technique. This algorithm was applied to important real-world problems of partially-occluded objects in infrared videos. Algorithm validation was performed by realizing a thermal imager, and this novel algorithm was implemented in it to demonstrate that the proposed algorithm is more efficient and produces better results in motion estimation for partially-occluded objects. It is also shown that track convergence is 56% faster in the PSO-Kalman algorithm than tracking with Kalman-only filter

Optimisation of Mobile Communication Networks - OMCO NET

The mini conference “Optimisation of Mobile Communication Networks” focuses on advanced methods for search and optimisation applied to wireless communication networks. It is sponsored by Research & Enterprise Fund Southampton Solent University. The conference strives to widen knowledge on advanced search methods capable of optimisation of wireless communications networks. The aim is to provide a forum for exchange of recent knowledge, new ideas and trends in this progressive and challenging area. The conference will popularise new successful approaches on resolving hard tasks such as minimisation of transmit power, cooperative and optimal routing

Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms

This book is a reprint of the Special Issue “Intelligent Autonomous Decision-Making and Cooperative Control Technology of High-Speed Vehicle Swarms”,which was published in Applied Sciences

Multi-objective climb path optimization for aircraft/engine integration using Particle Swarm Optimization

In this article, a new multi-objective approach to the aircraft climb path optimization problem, based on the Particle Swarm Optimization algorithm, is introduced to be used for aircraft–engine integration studies. This considers a combination of a simulation with a traditional Energy approach, which incorporates, among others, the use of a proposed path-tracking scheme for guidance in the Altitude–Mach plane. The adoption of population-based solver serves to simplify case setup, allowing for direct interfaces between the optimizer and aircraft/engine performance codes. A two-level optimization scheme is employed and is shown to improve search performance compared to the basic PSO algorithm. The effectiveness of the proposed methodology is demonstrated in a hypothetic engine upgrade scenario for the F-4 aircraft considering the replacement of the aircraft’s J79 engine with the EJ200; a clear advantage of the EJ200-equipped configuration is unveiled, resulting, on average, in 15% faster climbs with 20% less fuel

Adaptive and learning-based formation control of swarm robots

Autonomous aerial and wheeled mobile robots play a major role in tasks such as search and rescue, transportation, monitoring, and inspection. However, these operations are faced with a few open challenges including robust autonomy, and adaptive coordination based on the environment and operating conditions, particularly in swarm robots with limited communication and perception capabilities. Furthermore, the computational complexity increases exponentially with the number of robots in the swarm. This thesis examines two different aspects of the formation control problem. On the one hand, we investigate how formation could be performed by swarm robots with limited communication and perception (e.g., Crazyflie nano quadrotor). On the other hand, we explore human-swarm interaction (HSI) and different shared-control mechanisms between human and swarm robots (e.g., BristleBot) for artistic creation. In particular, we combine bio-inspired (i.e., flocking, foraging) techniques with learning-based control strategies (using artificial neural networks) for adaptive control of multi- robots. We first review how learning-based control and networked dynamical systems can be used to assign distributed and decentralized policies to individual robots such that the desired formation emerges from their collective behavior. We proceed by presenting a novel flocking control for UAV swarm using deep reinforcement learning. We formulate the flocking formation problem as a partially observable Markov decision process (POMDP), and consider a leader-follower configuration, where consensus among all UAVs is used to train a shared control policy, and each UAV performs actions based on the local information it collects. In addition, to avoid collision among UAVs and guarantee flocking and navigation, a reward function is added with the global flocking maintenance, mutual reward, and a collision penalty. We adapt deep deterministic policy gradient (DDPG) with centralized training and decentralized execution to obtain the flocking control policy using actor-critic networks and a global state space matrix. In the context of swarm robotics in arts, we investigate how the formation paradigm can serve as an interaction modality for artists to aesthetically utilize swarms. In particular, we explore particle swarm optimization (PSO) and random walk to control the communication between a team of robots with swarming behavior for musical creation

A New MPPT-Based Extended Grey Wolf Optimizer for Stand-Alone PV System: A Performance Evaluation versus Four Smart MPPT Techniques in Diverse Scenarios

Photovoltaic (PV) systems play a crucial role in clean energy systems. Effective maximum power point tracking (MPPT) techniques are essential to optimize their performance. However, conventional MPPT methods exhibit limitations and challenges in real-world scenarios characterized by rapidly changing environmental factors and various operating conditions. To address these challenges, this paper presents a performance evaluation of a novel extended grey wolf optimizer (EGWO). The EGWO has been meticulously designed in order to improve the efficiency of PV systems by rapidly tracking and maintaining the maximum power point (MPP). In this study, a comparison is made between the EGWO and other prominent MPPT techniques, including the grey wolf optimizer (GWO), equilibrium optimization algorithm (EOA), particle swarm optimization (PSO) and sin cos algorithm (SCA) techniques. To evaluate these MPPT methods, a model of a PV module integrated with a DC/DC boost converter is employed, and simulations are conducted using Simulink-MATLAB software under standard test conditions (STC) and various environmental conditions. In particular, the results demonstrate that the novel EGWO outperforms the GWO, EOA, PSO and SCA techniques and shows fast tracking speed, superior dynamic response, high robustness and minimal power fluctuations across both STC and variable conditions. Thus, a power fluctuation of 0.09 W could be achieved by using the proposed EGWO technique. Finally, according to these results, the proposed approach can offer an improvement in energy consumption. These findings underscore the potential benefits of employing the novel MPPT EGWO to enhance the efficiency and performance of MPPT in PV systems. Further exploration of this intelligent technique could lead to significant advancements in optimizing PV system performance, making it a promising option for real-world applications.The authors wish to express their gratitude to the Basque Government, through the project EKOHEGAZ II (ELKARTEK KK-2023/00051); to the Diputación Foral de Álava (DFA), through the project CONAVANTER; and to the UPV/EHU, through the project GIU20/063 for supporting this work