Reinforcement Learning, Intelligent Control and their Applications in Connected and Autonomous Vehicles

Reinforcement learning (RL) has attracted large attention over the past few years. Recently, we developed a data-driven algorithm to solve predictive cruise control (PCC) and games output regulation problems. This work integrates our recent contributions to the application of RL in game theory, output regulation problems, robust control, small-gain theory and PCC. The algorithm was developed for $H_\infty$ adaptive optimal output regulation of uncertain linear systems, and uncertain partially linear systems to reject disturbance and also force the output of the systems to asymptotically track a reference. In the PCC problem, we determined the reference velocity for each autonomous vehicle in the platoon using the traffic information broadcasted from the lights to reduce the vehicles\u27 trip time. Then we employed the algorithm to design an approximate optimal controller for the vehicles. This controller is able to regulate the headway, velocity and acceleration of each vehicle to the desired values. Simulation results validate the effectiveness of the algorithms

Assessment of heavy metal levels of Agodi Reservoir in Ibadan, Nigeria

The quality of water discharged into Agodi Reservoir was determined by the levels of Cd, Co, Cr, Cu, Fe, Mn, Ni, Pb and Zn. Water samples were collected from the inlet, centre and outlet locations of the reservoir and their heavy metal contents were determined by standard methods using Atomic Absorption Spectrophotometer (AAS) over a period of twelve (12) months covering both rainy and dry seasons. Test location differences and seasonal variations were examined using ANOVA at P<0.05 to establish any gradient effect associated with pollution dynamics. Results showed no seasonal variations in all the heavy metals except for Co. Also, there is no significant variation in heavy metal concentration between the test locations. The heavy metal profile in Agodi Reservoir, measured in mg/L, was as follows: Mn (64.81) > Fe (43.75) > Zn (23.13) > Cu (12.44) > Co (0.19) > Ni (0.17) > Cd (0.12). Concentrations of Cr and Pb were below detectable level. Compared to WHO recommended limits, Co fell below while others were higher than thresholds. It is concluded that Agodi Reservoir water has a potential environmental hazard unless treated before use.Keywords: Agodi Reservoir, heavy metals, pollution, seasonal variatio

Sustainability and resilience of Aiba Dam in Iwo, Nigeria

Aiba dam was created to supply pipe-borne water to the Iwo community and environ. This paper highlighted challenges to the dam survival and recommended opportunities for improvement in the light of deterring sociological and cultural barriers to its sustainability. The challenges facing the dam include natural viz:- climate change, sedimentation, senesce (ageing trees) and anthropogenic challenges which include management-related problems, urban sprawl, farming practices in the dam area and refuse dump. The paper suggested that relevant government agencies needs to be proactive on ensuring the sustainability of the dam especially in the areas of public enlightenment, reforestation, dredging of the dam, institution and implementation of relevant legal instruments; also, putting in place appropriate measures towards mitigating climate change impact to ensure the survival of the dam and to ascertain that it performs the purpose for which it was created. Further investigation to determine the status of the dam through the use of satellite imageries and geographic information system are suggested.Keywords: Aiba Reservoir; Dam management and resilience; Sustainability; Iwo; Environmental challeng

Assessment of Compliance with Development Regulations in Abeokuta-West Zonal Planning Area, Nigeria

Development control is a medium through which the land use is licensed for building and other purposes backed-up by planning laws and regulations. Despite the importance of development control measures in physical and environmental balancing, a series of factors still hinder its effectiveness. The paper examines the compliance with development regulations in Abeokuta-West Zonal Planning Area, Nigeria. Primary and secondary sources of data were used. A questionnaire and personal interview were both used. Multi-stage sampling method was adopted because the buildings in the planning area are numerous and spatially located. The planning area was divided into nine zones which were classified into three; from which Obada-Oko, Oke-Ata, and Bode-Olude areas were considerably selected. The number of buildings in the selected areas was 668 buildings, and 40% was used to select the sample for each area, the research then had a sample size of 267 buildings The selection of sample size was carried out systematically for the administration of questionnaires by the residents (building owners). The data collected were presented and analysed through the use of descriptive statistics. The findings indicated that 78.7% of the residents were aware of the existence of penalties for building without permission; 68.5% of the resident did not obtain a development permit, while 15.6% out of the 31.5% that obtained a development permit deviated from the approved building plan; and 58.3% of the residents were not satisfied with the procedures involved in obtaining development permit, because it is cumbersome and expensive.  Regulatory measures were recommended for the improvement of development control practice in the study area. These include the provision of the framework as a guide for physical development; effective public awareness; and enlightenment programmes. Also, various socio-economic classes (high, medium, and low classes), especially the low-income earners, should be given considerate attention in the course of policy formulation and planning implementation

Climate change awareness and its determinants in a growing city in the southwestern Nigeria using Multivariate Analysis

Awareness of climate change scenario is essential to the success of its global remediation efforts. Thus, a study was conducted to assess the awareness of climate change in a growing town of Iwo, Osun State, Nigeria. Data for the investigation was generated through the administration of 150 questionnaires across randomly selected adult inhabitants. Of the entire questionnaire, 123 were returned while the rest were either mutilated or returned uncompleted. Descriptive and inferential statistical analyses were conducted. Descriptive analysis showed that 74% of the respondents had no knowledge of climate change while 21.1% claimed knowledge of it. All respondents that claimed knowledge got the information on television and 76.9% got it on radio. Also, 95.9% of those who had knowledge believed that the solution to climate change associated risks should be borne by international bodies because the menace is global while 86.1% believed it is the responsibility of the Federal Government. Factor analysis results showed that four factors predict awareness of climate change bordering on availability and dissemination of climate change-associated issues and perception about who tackles the control of and the impact of climate change. It is therefore recommended that information on climate change should be made available and be widely disseminated, especially its impacts and that international communities in conjunction with the national government should take charge of the control and of the associated risks. Further investigation is required to assess the coping and adaptation strategies to climate change effects in the study area

Softcodes of Parallel Processing Milne’s Device via Exponentially Fitted Method for Valuating Special ODEs

The idea of technological computing has immensely assisted to enhance accuracy and maximize computed errors involving computational math. Softcodes computer programme is guided towards supplying comfortable computation, proficiency and faster results at all times. The objective of this study will be to devise softcodes of parallel processing Milne’s device (SPPMD) via exponentially fitted method for valuating special ordinary differential equations. This is established through collocation and interpolation of the exponentially fitted method. Dissecting (SPPMD) produces the principal local truncation error (PLTE) after expressing the order of SPPMD leading to the boundary of convergence. Some selected examples of special ODEs were tested to show the efficiency and accuracy of (SPPMD) at different boundary of convergence. The finished results exist with the aid of (SPPMD). Computed results show that the (SPPMD) is more proficient compare to subsisting methods in terms of the work out max errors at all levels

MATHEMATICA COMPUTER PROGRAMMING CODES OF EXPONENTIALLY FITTTED CONCURRENT MILNE'S DEVICE FOR SOLVING SPECIAL PROBLEMS

Over the years, scientific computing has contributed immensely to computational mathematics. Mathematica computer programming codes is known to provide easy computation and quick results. This research article is specifically built to generate Mathematica computer programming codes of exponentially fitted concurrent Milne’s device (EFCMD) for solving special problems. Exponentially fitted concurrent Miln device is formulated via collocation/interpolation with power series as the approximate solution. Analyzing the EFCMD will produce the main local truncation error (MLTE) after showing the order, thereby bringing forth the bounds of convergence. Numerical results display that EFCMD do better than existing methods in terms of the maximum errors in the least studied bound of convergence as a result of varying/designing a suitable pace size, ascertain bound of convergence and error control

Climate change adaptation options in farming communities of selected Nigerian ecological zones

This chapter examines the impacts of climate change on three tropical crops and assesses the climate change adaptation options adopted by rural farmers in the region. The study was conducted among farming communities settled in three major ecological zones in Nigeria. Over 37 years of data on rainfall and temperature were analyzed to examine climate change impacts on three major crops: rice, maize, and cassava. Farmers' adaptive capacity was assessed with a survey. Climatic data, crop yields, and survey data were analyzed using both descriptive and inferential statistics. The relation between rainfall/temperature and crop yields was examined using the Pearson correlation coefficient. Results show a high variation in the annual rainfall and temperature during the study period. The major findings from this research is that crops in different ecological zones respond differently to climate variation. The result revealed that there is a very strong relationship between precipitation and the yield of rice and cassava at p <0.05 level of significance. The results further showed low level of adaption among the rural farmers. The study concludes that rainfall and temperature variability has a significant impact on crop yield in the study area, but that the adaptive capacity of most farmers to these impacts is low. There is a need for enhancing the adaptation options available to farmers in the region, which should be the focus of government policies

Patterns and Perceptions of Climate Change in a Biodiversity Conservation Hotspot

Quantifying local people's perceptions to climate change, and their assessments of which changes matter, is fundamental to addressing the dual challenge of land conservation and poverty alleviation in densely populated tropical regions To develop appropriate policies and responses, it will be important not only to anticipate the nature of expected changes, but also how they are perceived, interpreted and adapted to by local residents. The Albertine Rift region in East Africa is one of the world's most threatened biodiversity hotspots due to dense smallholder agriculture, high levels of land and resource pressures, and habitat loss and conversion. Results of three separate household surveys conducted in the vicinity of Kibale National Park during the late 2000s indicate that farmers are concerned with variable precipitation. Many survey respondents reported that conditions are drier and rainfall timing is becoming less predictable. Analysis of daily rainfall data for the climate normal period 1981 to 2010 indicates that total rainfall both within and across seasons has not changed significantly, although the timing and transitions of seasons has been highly variable. Results of rainfall data analysis also indicate significant changes in the intra-seasonal rainfall distribution, including longer dry periods within rainy seasons, which may contribute to the perceived decrease in rainfall and can compromise food security. Our results highlight the need for fine-scale climate information to assist agro-ecological communities in developing effective adaptive management

Extra-pulmonary oxidative stress investigations of an over-the-counter pyrethroid insecticide product in rats

Extra-pulmonary oxidative stress investigations of exposure to aerosol, of an over-the-counter pyrethroid insecticide product in Nigeria in Wistar rats were carried out. Four groups of five animals each were used in this study, and were exposed to different concentrations of the insecticide aerosol. Malondialdehyde (MDA) and reduced glutathione (GSH) concentrations were determined in the liver, kidney and testes, while the activities of catalase (CAT), superoxide dismutase (SOD), glutathione peroxidase (GPx) and glutathione S-transferase (GST) were determined in liver only. Liver, kidney and testes showed no significant difference in their weights and relative weights when compared with control, except groups II and III where significant increase in liver weight was recorded. There was no significant increase in liver, kidney and testis MDA concentration when compared with the control. There was significant decrease in testis GSH for all groups, while significant increase was seen in groups III and IV for kidney GSH and group II only for liver GSH. The activities of liver CAT, SOD, GST and GPx were reduced, but showed no significant difference when compared with the control. Our investigations therefore reveal that the compositions of the pyrethroid insecticide product may not play any role in extra-pulmonary tissue oxidative damage.Key words: Insecticide aerosol, pyrethroid, oxidative stress, lipid peroxidation, rats