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作者： Henrik Malvik Halvorsen Norwegian University of Science and Technology

学位级别：硕士

Which technologies and algorithmic design are suitable for both the control strategy and the communication protocol to ensure robustness within a robotic swarm? The aim of this study is to answer this question. The study is performed by obtaining an understanding of the field of swarm robotics and proposing a robotic swarm system with robustness in mind. The robotic swarm system contains possible solutions for the con- trol strategy, the communication protocol, hardware design and an in-room localization method. The innovative part of this swarm system is the idea of joining communication and control in a cooperative manner, based on previous studies on different robotic swarms. The communication protocol was designed to establish a mesh topology using the Thread protocol, MQTT-SN and ROMANOs. ROMANOs is a new application overlay protocol based on ROMANO, and is first introduced in this project. The control strategy introduces a potential-field based PID-controller, designed for its efficiency and practical approach. The cooperation between communication and control is the fact that the estimation of signal strength values will directly affect the potential fields of the control strategy. The control strategy will then initiate control actions to maintain the communication network. The hardware design platform consists of two printed circuit boards that houses all neces- sary electronics to realize the swarm algorithm, and a 3D-printed cylindrical chassis. The in-room localization method is based on ranging measurements from laser sensors, signal strength estimates and heading computations based on magnetometer data. A listening device consisting of a Node. JS MQTT module is created in order to acquire performance data from the swarm which is stored in an SQL database and further analysed in MATLAB. The proposed swarm application yields a mostly favorable, but mixed result. The joint control- and communication algorithm is successful in finding a local minima within

关键词： robotic swarms potential-field based control thread mesh network MQTT-SN ROMANO laser distance measurements magnetometer joint control-and communication algorithm PCB design algorithm design robust swarm application

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Nonlinear unknown input observer design for nonlinear systems

Nonlinear unknown input observer design for nonlinear system...

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UKACC International Conference on Control 2010

作者： T. Sedighi A. J. Koshkouei K. J. Burnham Coventry University Coventry West Midlands GB Control Theory & Applications Centre Coventry University Priory Street Coventry CV1 5FB UK

ISBN: (纸本)9781627481199

This paper provide new developments in the design of observers for a class of nonlinear systems with unknown inputs whose nonlinear functions satisfy Lipschitz condition. The proposed methods guarantee the error system stability without requiring the rank condition and also yield many additional degrees of freedom available to the designer. The algorithms for designing a nonlinear observer for the nonlinear systems with unknown inputs is precisely derived. The proposed observers may be used for the state estimation and fault diagnosis. A nonlinear mass-spring-damper model is given in order to highlight the efficiency of the proposed method.

关键词： Nonlinear control systems Nonlinear observer Mass-spring-damper system Lyapunove equation Error stability Nonlinear systems Degree of freedom State estimation Unknown development design Observers nonlinearity Fault diagnosis Lipschitz condition error system algorithm design

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Personal navigation using a kinetic model of humangait

Personal navigation using a kinetic model of humangait

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作者： Matthews, Christopher J University of Minnesota

学位级别：master

University of Minnesota M.S. thesis. December ***: Aerospace Engineering and mechanics. Advisor:DemozGebre-Egziabher. 1 computer file (PDF); ix, 74pages.%%%%Personal navigation concerns the tracking of humanbeings via devices carried or worn by individuals and presents aunique set of challenges in regards to navigation system andalgorithm design. Many conventional position ˉxing and deadreckoning approaches tend to perform poorly given the requirementsfor personal navigation, which may consider GNSS-deniedenvironments, a wide, highly dynamic range of motion, and low-costand small form-factor sensor limitations. A novel approach toassisting or augmenting other navigation algorithms by employing akinetic model of human gait is presented in this thesis. Thekinetic model in concert with a single-axis accelerometer is shownhere to comprise a virtual sensor capable of providing step sizeestimates in-situ for straight forward walking. Furthermore, thecombination of the kinetic model and accelerometer yields anavigation solution of comparable or better performance whencompared to a step counting dead reckoning approach. The derivationof this model is discussed, details of the experiments are given,and results are shown

关键词： Navigation system Navigation algorithms algorithm design Kinetic model Aerospace Engineering and mechanics

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Study on Health Monitoring Systems Based on Correction Mode

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Transactions of Nanjing University of Aeronautics and Astronautics 2021年第2期38卷 325-332页

作者： ZHU Tianyang ZHANG Yajun ZHOU Junliang ZHOU Aotu College of Mechanical and Electrical Engineering Beijing University of Chemical TechnologyBeijing 100029P.R.China School of Performance and Cultural Industries University of LeedsLeeds LS29JTUnited Kingdom

Current health monitoring systems often do not concern about the needs of the elderly,leading to inaccurate health status monitoring and delayed treatment for emergency health ***,they do not consider the variable factors affecting each patient,resulting in discrepancies between the measured values and real health *** solve the problems,we propose a new health monitoring system with physiological parameter measurement,correction,and *** study collects clinical samples of the elderly to formulate regression equations and statistical models for analyzing the relationship between gender,age,measurement time,and physical *** multiple adjustments to measurements of physical signs,the correction algorithm compares the data with a standard *** process significantly reduces the risk of misjudgment while matching users’health status more *** application case of this paper proves the validity of the method for measuring and correcting heart rate results in the elderly and presents a specific correction ***,the correction algorithm provides a scientific basis for eliminating or modifying other influencing factors in future health monitoring studies.

关键词： health monitoring correction mode algorithm design heart rate

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Truss sizing optimum design using a metaheuristic approach: Connected banking system

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Heliyon 2024年第20期10卷 e39308页

作者： Nemati, Mehrdad Zandi, Yousef Sabouri, Jamshid Department of Civil Engineering Tabriz Branch Islamic Azad University Tabriz Iran

Several methods have been used to solve structural optimum design problems since the creation of a need for light weight design of structures and there is still no single method for solving the optimum design problems in structural engineering field that is capable of providing efficient solutions to all of the structural optimum design problems. Therefore, there are several proposed and utilized methods to deal with optimum design issues and problems, that sometimes give promising results and sometimes the solutions are quite unacceptable. This issue with metaheuristic algorithms, which are suitable approaches to solve these set of problems, is quite usual and is supported by the “No Free Lunch theorem”. Researchers try harder than the past to propose methods capable of presenting robust and optimal solutions in a wider range of structural optimum design problems, so that to find an algorithm that can cover a wider range of structural optimization problems and obtain a better optimum design. Truss structures are one of these problems which have extremely complex search spaces to conduct search procedures by metaheuristic algorithms. This paper proposes a method for optimum design of truss sizing problems. The presented method is used against 6 well-known benchmark truss structures (10 bar, 17 bar, 18 bar, 25 bar, 72 bar and 120 bar) and its results are compared with some of the available studies in the literature. The performance of the presented algorithm can be considered as very acceptable. © 2024 The Authors

关键词： algorithm design Metaheuristics Optimization Optimum design Truss structure

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Identifying the cardinality-constrained critical nodes with a hybrid evolutionary algorithm

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INFORMATION SCIENCES 2023年第1期642卷

作者： Liu, Chanjuan Ge, Shike Zhang, Yuanke Dalian Univ Technol Sch Comp Sci & Technol Dalian 116024 Peoples R China

Identifying the critical nodes in a network is crucial for understanding its characteristics, controlling its structure, and determining its functionality. Cardinality-constrained CNP (CC-CNP) is a nondeterministic polynomial-time (NP)-hard combinatorial optimization problem that refers to minimizing a set of nodes such that after deletion, the size of the largest connected component in the residual subgraph is smaller than a prescribed value. CC-CNP is applicable to a variety of fields, such as epidemic and infectious disease control, electric power network construction and maintenance, and traffic network *** this work, we present a multistage local search (MSLS) algorithm for generating high-quality initial solutions for CC-CNP, where two strategies, circular node deletion and node change and the tabu search-based first in, first out (FIFO) principle, are utilized to prevent search detours. Then, a population-based strategy is incorporated, resulting in a genetic algorithm-based multistage local search algorithm (GAMSLS) that adopts a genetic algorithm framework, refines the initial solutions in the crossover process, and utilizes a new population update strategy to ensure the diversity and individual quality of the population. The proposed algorithm is evaluated on 75 network instances and is shown to outperform state-of-the-art algorithms for CC-CNP.

关键词： Local search algorithm design Combinatorial optimization NP-hard Heuristic search

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Utváření představ a osvojování vybraných konceptů používaných při sestavování programů s testovacími podmínkami na 1. stupni ZŠ

Utváření představ a osvojování vybraných konceptů po...

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作者： Čuma, Radek Charles University of Prague

This diploma thesis maps pupils understanding about a functional principle of using commands along with testing conditions (IF, IF - THEN, REPEAT - UNTIL, etc.) when creating algorithms. The main aim of the thesis is to design and implement a set of lessons and a teaching approach based on a theory about learning of algorithmic concepts at primary education for pupils (aged in 9-11) with the intention of verifying a functionality of designed teaching procedures and their possible impacts on pupils understanding. Data was collected through continuous monitoring of pupils behavioural characteristics, progress and solution of chosen tasks, video recordings of task solving within the suggested unplugged activities, using a virtual tool *** for monitoring of a pupils progress, audio recordings of interview with pupils, and photographs capturing a creation of own blocks of commands set up by a transcription from pupils mother language into a machine language (programming language) have all been used for a verification process of the designed teaching approach. By combining the acquired data sets, adjustments of these procedures have been made in order to eliminate the most frequent problems that pupils have encountered during teaching. The case study findings revealed that it is important for...

关键词： Testing conditions programming cycles algorithm design programming computational thinking unplugged activities ***

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Walking Bout Detection for People Living in Long Residential Care: A Computationally Efficient algorithm for a 3-Axis Accelerometer on the Lower Back

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SENSORS 2023年第21期23卷 8973-8973页

作者： Maclean, Mhairi K. Rehman, Rana Zia Ur Kerse, Ngaire Taylor, Lynne Rochester, Lynn Del Din, Silvia Univ Twente Fac Engn Technol Dept Biomech Engn NL-7522 LW Enschede Netherlands Newcastle Univ Translat & Clin Res Inst Fac Med Sci Newcastle Upon Tyne NE2 4HH England Univ Auckland Fac Med & Hlth Sci Sch Populat Hlth Auckland 1023 New Zealand Newcastle Upon Tyne Hosp NHS Fdn Trust Newcastle Upon Tyne NE7 7DN England Newcastle Univ Natl Inst Hlth & Care Res NIHR Newcastle Biomed Res Ctr BRC Newcastle Upon Tyne NE2 4HH England Newcastle Upon Tyne Hosp NHS Fdn Trust Newcastle Upon Tyne NE2 4HH England

Accurate and reliable measurement of real-world walking activity is clinically relevant, particularly for people with mobility difficulties. Insights on walking can help understand mobility function, disease progression, and fall risks. People living in long-term residential care environments have heterogeneous and often pathological walking patterns, making it difficult for conventional algorithms paired with wearable sensors to detect their walking activity. We designed two walking bout detection algorithms for people living in long-term residential care. Both algorithms used thresholds on the magnitude of acceleration from a 3-axis accelerometer on the lower back to classify data as "walking" or "non-walking". One algorithm had generic thresholds, whereas the other used personalized thresholds. To validate and evaluate the algorithms, we compared the classifications of walking/non-walking from our algorithms to the real-time research assistant annotated labels and the classification output from an algorithm validated on a healthy population. Both the generic and personalized algorithms had acceptable accuracy (0.83 and 0.82, respectively). The personalized algorithm showed the highest specificity (0.84) of all tested algorithms, meaning it was the best suited to determine input data for gait characteristic extraction. The developed algorithms were almost 60% quicker than the previously developed algorithms, suggesting they are adaptable for real-time processing.

关键词： wearable sensors locomotion algorithm design accelerometer older adults

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Assessing ranking and effectiveness of evolutionary algorithm hyperparameters using global sensitivity analysis methodologies

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SWARM AND EVOLUTIONARY COMPUTATION 2022年第0期74卷

作者： Ojha, Varun Timmis, Jon Nicosia, Giuseppe Univ Reading Reading England Univ Sunderland Sunderland England Univ Catania Catania Italy Univ Cambridge Cambridge England

We present a comprehensive global sensitivity analysis of two single-objective and two multi-objective state-of-the-art global optimization evolutionary algorithms as an algorithm configuration problem. That is, we investigate the quality of influence hyperparameters have on the performance of algorithms in terms of their direct effect and interaction effect with other hyperparameters. Using three sensitivity analysis methods, Morris LHS, Morris, and Sobol, to systematically analyze tunable hyperparameters of covariance matrix adaptation evolutionary strategy, differential evolution, non-dominated sorting genetic algorithm III, and multi-objective evolutionary algorithm based on decomposition, the framework reveals the behaviors of hyperparameters to sampling methods and performance metrics. That is, it answers questions like what are hyperparameters influence patterns, how they interact, how much they interact, and how much their direct influence is. Consequently, the ranking of hyper -parameters suggests their order of tuning, and the pattern of influence reveals the stability of the algorithms.

关键词： Hyperparameter optimization Evolutionary algorithms Global sensitivity analysis algorithm design algorithm stability analysis

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Deep Mining algorithm of Online Purchase Behavior Data Based on Decision Tree Model

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JOURNAL OF TESTING AND EVALUATION 2023年第3期51卷 1398-1407页

作者： Cui, Jiayi Arden Univ Sch Business & Management Coventry CV3 4FJ England

It is difficult to mine online buying behavior data by ignoring the classification of online buying behavior data, and the precision and recall are both on the low side. The training set of online buying behavior data is processed by top-down recursion, and a single decision tree is created recursively, and a decision tree classification model is constructed. Based on the classification results of behavior data, the regular estimation of online shopping features is calculated by preprocessing customer behavior features, and the deep mining algorithm is designed. Experimental results show that the decision tree model has good data clustering effect. Based on this, the precision and recall of online shopping behavior data mining are high, and the application performance is ideal.

关键词： decision tree classification model online purchase behavior data mining regularized estimation algorithm design

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