Adaptive bio-inspired firefly and invasive weed algorithms for global optimisation with application to engineering problems

The focus of the research is to investigate and develop enhanced version of swarm intelligence firefly algorithm and ecology-based invasive weed algorithm to solve global optimisation problems and apply to practical engineering problems. The work presents two adaptive variants of firefly algorithm by introducing spread factor mechanism that exploits the fitness intensity during the search process. The spread factor mechanism is proposed to enhance the adaptive parameter terms of the firefly algorithm. The adaptive algorithms are formulated to avoid premature convergence and better optimum solution value. Two new adaptive variants of invasive weed algorithm are also developed seed spread factor mechanism introduced in the dispersal process of the algorithm. The working principles and structure of the adaptive firefly and invasive weed algorithms are described and discussed. Hybrid invasive weed-firefly algorithm and hybrid invasive weed-firefly algorithm with spread factor mechanism are also proposed. The new hybridization algorithms are developed by retaining their individual advantages to help overcome the shortcomings of the original algorithms. The performances of the proposed algorithms are investigated and assessed in single-objective, constrained and multi-objective optimisation problems. Well known benchmark functions as well as current CEC 2006 and CEC 2014 test functions are used in this research. A selection of performance measurement tools is also used to evaluate performances of the algorithms. The algorithms are further tested with practical engineering design problems and in modelling and control of dynamic systems. The systems considered comprise a twin rotor system, a single-link flexible manipulator system and assistive exoskeletons for upper and lower extremities. The performance results are evaluated in comparison to the original firefly and invasive weed algorithms. It is demonstrated that the proposed approaches are superior over the individual algorithms in terms of efficiency, convergence speed and quality of the optimal solution achieved

Stability study of PD and PI controllers in multiple difference disturbances

This paper discusses the stability study of PD and Pl controllers in multiple difference disturbances. The multiple difference disturbances in this paper are added to the inverted pendulum model that based on robotic leg application such as pendubot. By applying the pendubot model via MATLAB/Simulink block diagram, the performances between the model and disturbances are compared for stability in the simulation results. The simulation results showed that the PD controller could reduce and eliminate disturbances more effective than PI controller in the pendubot model. Overall, the simulation results are based on stability analysis for the degree of stability, steady state performance and transient response

DESIGN AND DEVELOPMENT OF MULTI-INPUT SENSOR ALGORITHM FOR AUTONOMOUS UNDERWATER VEHICLE (AUV) APPLICATIONS

This project is to design and develop a multi-input algorithm of sensors for Autonomous Underwater Vehicle (AUV) applications which is having high performance automated detection and monitoring on underwater application or for surveillances and defense application. The monitoring and detection will be based on multi-input received from the intelligent and active vision and sensors implemented in the AUV. The sensors implemented in AUV such as vision system, hydrophone system and sonar system. The new design of vision system for AUV with the implementation of wireless camera, whereby, produce clearer image. The ultrasonic sensor is a main device to transmit and receive the signal from the obstacle. The ultrasonic sensor will be combined to the ultrasonic circuit. Hydrophone is an underwater microphone which with the help of pressure impulses of acoustic waves converts them into electrical signals which in further are used for communication. It was designed to be used underwater for recording or listening to underwater sound

Development of Sonar Sensor System for Autonomous Underwater Vehicles Application

This project is about the development of the sonar sensor system in purpose for Autonomous Underwater Vehicles (AUV) application. The concept of this project is using the ultrasonic sensor as a main device to transmit and receive the signal from the obstacle. The ultrasonic sensor will be combined to the ultrasonic circuit. Usually, the ultrasonic sensor is often used in robots for obstacle avoidance, map building and especially in navigation. Ultrasonic range sensor is works by emitting a short burst of 40 kHz sound. In addition, a small amount of sound energy is reflected by objects in front the device and returned to the detector or the receiver. The receiver sends this reflected signal known as echoes to the microcontroller to determine how far away the objects. However, to know how far away the objects it is using the speed of sound and time it took for the signal to be reflected. Unfortunately, echoes are not completely a product of distance. Different the medium will give the different speed and different result. It uses a Proowave Ultrasonic TXR and MikroC software as a compiler

Spread enhancement for firefly algorithm with application to control mechanism of exoskeleton system

Firefly algorithm (FA) is a swarm intelligence based algorithm for global optimization and has widely been used in solving problems in many areas. The FA is good at exploring the search space and locating the global optimum, but it always gets trapped at local optimum especially in case of high dimensional problems. In order to overcome such drawbacks of FA, this paper proposes a modified variant of FA, referred to as spread enhancement strategy for firefly algorithm (SE-FA), by devising a nonlinear adaptive spread mechanism for the control parameters of the algorithm. The performance of the proposed algorithm is compared with the original FA and one variant of FA on six benchmark functions. Experimental and statistical results of the approach show better solutions in terms of reliability and convergence speed than the original FA especially in the case of high-dimensional problems. The algorithms are further tested with control of dynamic systems. The systems considered comprise assistive exoskeletons mechanism for upper and lower extremities. The performance results are evaluated in comparison to the original firefly and invasive weed algorithms. It is demonstrated that the proposed approaches are superior over the individual algorithms in terms of efficiency, convergence speed and quality of the optimal solution achieved

The Evaluation Of Peo Attainment Based On Alumni And Employer Survey

This study is to investigate the evaluation of Program Educational Objectives (PEO) attainment in Faculty of Electrical Engineering (FKE). The PEO for this facuIty consists of five statements that describe expected achievements of graduates in their career and professional life a few years after graduation. Method used to measure the achievement of each PEO is based on alumni survey and employer survey that involve all the alumni in this faculty graduated since 2005 and their employers. The attainment for each PEO is based on the measurement of continuous quality improvement items placed in both questionnaires. Results shows that, out of five PEO listed, only one, that is PEO 3 is not achieve

Design and Development of an Autonomous Underwater Vehicle (AUV-FKEUTeM)

Abstract—This paper describes a design and development of an Autonomous Underwater Vehicle (AUV). AUV are robotic submarines that are a part of the emerging field of autonomous and unmanned vehicles. This project shows the design implementation of an AUV as a test bed platform for a variety of research in underwater technologies especially involving small-scale, surface water and low-cost underwater robots. The general design and its consideration are well discussed in this paper. The AUV prototype has been developed by SolidWork. It will have a fixed mechanical system and body, having a modular electronic system that allows development of various controllers. The controller and motors has been tested in small scale surface water and the result is encouraging. Some of the factor affecting the AUV performance is also elaborated for future research in this area

Hybridizing Invasive Weed Optimization with Firefly Algorithm for Unconstrained and Constrained Optimization Problems

This study presents a hybrid invasive weed firefly optimization (HIWFO) algorithm for global optimization problems. Unconstrained and constrained optimization problems with continuous design variables are used to illustrate the effectiveness and robustness of the proposed algorithm. The firefly algorithm (FA is effective in local search, but can easily get trapped in local optima. The invasive weed optimization (IWO) algorithm, on the other hand, is effective in accurate global search, but not in local search. Therefore, the idea of hybridization between IWO and FA is to achieve a more robust optimization technique, especially to compensate for the deficiencies of the individual algorithms. In the proposed algorithm, the firefly method is embedded into IWO to enhance the local search capability of IWO algorithm that already has very good exploration capability. The performance of the proposed method is assessed with four well-known unconstrained problems and four practical constrained problems. Comparative assessments of performance of the proposed algorithm with the original FA and IWO are carried out on the unconstrained problems and with several other hybrid methods reported in the literature on the practical constrained problems, to illustrate its effectiveness. Simulation results show that the proposed HIWFO algorithm h as superior searching quality and robustness than the approaches considered

A Critical Analysis Of Fuzzy Logic Controller For Slip Control In Antilock Braking System (ABS)

This project aims at proposing an innovative way to implement the concept of fuzzy logic to an ABS model. The implementation of this project was conducted using simulation of ABS which is a combination from vehicle speed, wheel speed and slip through MATLAB Simulink software. By implementing fuzzy logic to the ABS system, the fuzzy logic can facilitate in improving the ABS abilities. The ABS model is developed and fuzzy logic controller is implemented to the model. The performance of the Fuzzy ABS is analyzed. The result shows that the fuzzy logic controller can facilitates the performance of the ABS by reducing the stopping time and maintaining the slip value near to 0.2

Development of PI controller for disc speed

This paper discuss about the development of Proportional and Integral (PI) controller for disc speed by involving the disturbance at the feedback control. The effect of the disturbance to the disc speed system is eliminated by Proportional and Integral (PI) controller. The PI controller is tuned heuristically from the MATLAB/simulink at which integrated with the disc plant. The performance of the disc plant is analyzed in real-time. Based on the analysis in real-time, this paper shows that the performance of the PI controller with disturbance and without disturbance. The result with disturbance shows that the output response quite closes to the result without disturbance even though the overshoot is about 8 percent. By the way, the rise time and settling time of the disc speed with disturbance is reduced for the time less than 0.01 and 0.95 seconds each. From the results with and without disturbance, this paper concludes that the development of PI controller for this speed in simulation give less error about 0.02 compared to the real-time system