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Metaheuristic Optimization for Mobile Robot Navigation Based on Path Planning

computers, Materials & Continua 2022年第11期73卷 2241-2255页

作者： El-Sayed M.El-kenawy Zeeshan Shafi Khan Abdelhameed Ibrahim Bandar Abdullah Aloyaydi Hesham Arafat Ali Ali E.Takieldeen Department of Communications and Electronics Delta Higher Institute of Engineering and TechnologyMansoura35111Egypt Faculty of Artificial Intelligence Delta University for Science and TechnologyMansoura35712Egypt Computer Science Department College of Engineering and Computer ScienceMustaqbal UniversityBuraidahSaudi Arabia Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt Department of Mechanical Engineering Qassim UniversityBuraidah51452Saudi Arabia

Recently,the path planning problem may be considered one of the most interesting researched topics in autonomous *** is why finding a safe path in a cluttered environment for a mobile robot is a significant requisite.A promising route planning for mobile robots on one side saves time and,on the other side,reduces the wear and tear on the robot,saving the capital *** route planning methods for the mobile robot have been developed and *** to our best knowledge,no method offers an optimum solution among the existing *** Swarm Optimization(PSO),a numerical optimization method based on the mobility of virtual particles in a multidimensional space,is considered one of the best algorithms for route planning under constantly changing environmental *** the researchers,reactive methods are increasingly common and extensively used for the training of neural networks in order to have efficient route planning for mobile *** paper proposes a PSO Weighted Grey Wolf Optimization(PSOWGWO)*** is a hybrid algorithm based on enhanced Grey Wolf Optimization(GWO)with *** order to measure the statistical efficiency of the proposed algorithm,Wilcoxon rank-sum and ANOVA statistical tests are *** experimental results demonstrate a 25%to 45%enhancement in terms of Area Under Curve(AUC).Moreover,superior performance in terms of data size,path planning time,and accuracy is demonstrated over other state-of-the-art techniques.

关键词： Mobile robot swarm optimization robot route planning neural networks

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Urban Electric Vehicle Charging Station Placement Optimization with Graylag Goose Optimization Voting Classifier

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computers, Materials & Continua 2024年第7期80卷 1163-1177页

作者： Amel Ali Alhussan Doaa Sami Khafaga El-Sayed M.El-kenawy Marwa M.Eid Abdelhameed Ibrahim Department of Computer Sciences College of Computer and Information SciencesPrincess Nourah bint Abdulrahman UniversityP.O.Box 84428Riyadh11671Saudi Arabia Department of Communications and Electronics Delta Higher Institute for Engineering and TechnologyMansoura35511Egypt Faculty of Artificial Intelligence Delta University for Science and TechnologyMansoura35712Egypt Computer Engineering and Control Systems Department Faculty of EngineeringMansoura UniversityMansoura35516Egypt

To reduce the negative effects that conventional modes of transportation have on the environment,researchers are working to increase the use of electric *** demand for environmentally friendly transportation may be hampered by obstacles such as a restricted range and extended rates of *** establishment of urban charging infrastructure that includes both fast and ultra-fast terminals is essential to address this ***,the powering of these terminals presents challenges because of the high energy requirements,whichmay influence the quality of *** the maximum hourly capacity of each station based on its geographic location is necessary to arrive at an accurate estimation of the resources required for charging *** is vital to do an analysis of specific regional traffic patterns,such as road networks,route details,junction density,and economic zones,rather than making arbitrary conclusions about traffic *** vehicle traffic is simulated using this data and other variables,it is possible to detect limits in the design of the current traffic engineering ***,the binary graylag goose optimization(bGGO)algorithm is utilized for the purpose of feature ***,the graylag goose optimization(GGO)algorithm is utilized as a voting classifier as a decision algorithm to allocate demand to charging stations while taking into consideration the cost variable of traffic *** on the results of the analysis of variance(ANOVA),a comprehensive summary of the components that contribute to the observed variability in the dataset is *** results of the Wilcoxon Signed Rank Test compare the actual median accuracy values of several different algorithms,such as the voting GGO algorithm,the voting grey wolf optimization algorithm(GWO),the voting whale optimization algorithm(WOA),the voting particle swarm optimization(PSO),the voting firefly algorithm(FA),and the voting genetic algori

关键词： Electric vehicle graylag goose optimization metaheuristics optimization machine learning

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SightAid: empowering the visually impaired in the Kingdom of Saudi Arabia (KSA) with deep learning-based intelligent wearable vision system

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Neural Computing and Applications 2024年第19期36卷 11075-11095页

作者： Talaat, Fatma M. Farsi, Mohammed Badawy, Mahmoud Elhosseini, Mostafa Machine Learning Department Faculty of Artificial Intelligence Kafrelsheikh University Kafrelsheikh Egypt Faculty of Computer Science & amp Engineering New Mansoura University Gamasa35712 Egypt College of Computer Science and Engineering Taibah University Yanbu46421 Saudi Arabia Computers and Control Systems Engineering Department Faculty of Engineering Mansoura University Mansoura35516 Egypt Computer Science and Information Department Applied College Taibah University Madinah46537 Saudi Arabia

In the Kingdom of Saudi Arabia, visual impairment poses significant challenges for approximately 17.5% of school-aged children, mainly due to refractive errors. These challenges extend to everyday navigation, environmental interaction, and overall life quality. Motivated by the desire to empower visually impaired individuals, who face navigational limitations, difficulties in object recognition, and inadequate assistance from traditional technologies, we propose SightAid. This innovative wearable vision system utilizes a deep learning-based framework, addressing the gaps left by current assistive solutions. Traditional methods, such as canes and GPS devices, often fail to meet the nuanced and dynamic needs of the visually impaired, especially in accurately identifying objects, understanding complex environments, and providing essential real-time feedback for independent navigation. SightAid comprises a seven-phase framework involving data collection, preprocessing, and training of a sophisticated deep neural network with multiple convolutional and fully connected layers. This system is integrated into smart glasses with augmented reality displays, enabling real-time object detection and recognition. Interaction with users is facilitated through audio or haptic feedback, informing them about the location and type of objects detected. A continuous learning mechanism, incorporating user feedback and new data, ensures the system's ongoing refinement and adaptability. For performance assessment, we utilized the MNIST dataset, and an Indoor Objects Detection dataset tailored for the visually impaired, featuring images of everyday objects crucial for safe indoor navigation. SightAid demonstrates remarkable performance with accuracy up to 0.9874, recall values between 0.98 and 0.99, F1-scores ranging from 0.98 to 0.99, and AUC-ROC values reaching as high as 0.9999. These metrics significantly surpass those of traditional methods, highlighting SightAid's potential to substan

关键词： Object recognition

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A Non-Parametric Identification Scheme of SISO-LTI systems Using Blaschke-Products∗ 32

A Non-Parametric Identification Scheme of SISO-LTI Systems U...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Ungvari, Gergo Soumelidis, Alexandros Dozsa, Tamas Eötvös Loránd University Faculty of Informatics Department of Numerical Analysis Budapest Hungary HUN-REN Institute for Computer Science and Control Systems and Control Laboratory Budapest Hungary

ISBN: (纸本)9798350395440

In this manuscript, a novel algorithm is presented for the identification of single input single output linear time invariant (SISO-LTI) systems. The proposed method is able to find poles of the transfer function describing the system without any assumptions on the system order. The results presented in this paper generalize earlier identification schemes based on expansions of the transfer function using generalized rational orthogonal basis functions (GOBFs). These previous methods depended on a convergent sequence constructed from the coefficients of the orthogonal GOBF expansion. The first contribution of this study is showing that a wider family of functions may be used to construct similar pole finding algorithms. The aforementioned previous approaches can be interpreted as special cases of the results presented here. In addition, using this generalization a new pole identification scheme is proposed using finite Blaschke-products. Through experiments, the practical utility of this scheme is verified when compared to earlier variations of the pole finding scheme. © 2024 IEEE.

关键词： Poles

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A rule-based method of spike detection and suppression and its application in a control system for additive manufacturing

A rule-based method of spike detection and suppression and i...

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作者： Rafajlowicz, Wojciech Rafajlowicz, Ewaryst Faculty of Electronics Department of Computer Engineering Wroclaw University of Science and Technology Wroclaw Poland Faculty of Electronics Department of Control Systems and Mechatronics Wroclaw University of Science and Technology Wroclaw Poland

We propose a rule-based method of spike detection and suppression method. This method is an extension of the jump detector that was proposed by the second author, M. Pawlak and A. Steland. Its elementary properties are established, and the example of application for a laser power control in a 3-dimensional additive manufacturing process is discussed. Copyright © 2017 John Wiley & Sons, Ltd.

关键词： 3D printers

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A probabilistic paging technique for location management in PCS networks 9

A probabilistic paging technique for location management in ...

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2014 9th IEEE International Conference on computer Engineering and systems, ICCES 2014

作者： Mohamed, Amr A. Ali-Eldin, Amr M.T. Saleh, Ahmed I. North of Delta for Electricity Distribution Company Ministry of Electricity and Energy Mansoura Egypt Computer and Control Systems Department Faculty of Engineering Mansoura University Egypt

ISBN: (纸本)9781479965946

Location management (LM) is how to find a mobile terminal (MT) current location on the move. Location update (LU) and paging must be maintained efficiently to minimize location management cost in personal communication service networks (PCS networks). In this paper we introduce a new location update and paging techniques, the location update is concerned with location tracking which is based on geographical position of the mobile terminal with time aspects. The locations are saved in the mobile cache in means of cell ID and time interval, the tracking process is totally managed by the MT's current visitor location register (VLR), the location data is transferred from the mobile cache to the VLR when the mobile terminal crosses a pre-defined number of cells, or when a pre-defined number of time intervals is reached. The paging is done according to probability of existence for the mobile terminal to the location data saved in VLR. The proposed techniques in this paper reduce location management cost compared to existed location management methods. © 2014 IEEE.

关键词： Location

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Microbiological and biological analysis of polymer-oxide coatings formed on dental implants enriched with clindamycin

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Materials Chemistry and Physics 2025年 344卷

作者： Hubert Knap Weronika Jaśko Weronika Maciak Izabella Ślęzak-Prochazka Alicja Kazek-Kęsik Silesian University of Technology Faculty of Chemistry B. Krzywoustego Str. 6 44–100 Gliwice Poland Department of Systems Biology and Engineering Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 44–100 Gliwice Poland Silesian University of Technology Biotechnology Centre Krzywoustego Str. 8 44–100 Gliwice Poland

Coatings on dental implants are still being developed in order to obtain an ideal balance between their cytocompatibility and antibacterial properties. This paper presents the bacteriostatic and biological properties of oxide-polymer layers with clindamycin on titanium dental implants. A layer was formed on the surface of titanium implants, which was composed of poly(lactic- co -glycolic acid) (PLGA) and clindamycin. The surface morphology was analyzed using an optical microscope and a scanning electron microscope (SEM). Clindamycin loaded into the polymer was successfully found to inhibit S. aureus and slightly inhibit E. coli bacteria. The average inhibition zone obtained for S. aureus was 14 mm. Only single bacteria were found to be adhered to the implant surface, and changes in their morphology were observed (SEM analysis). The cytocompatibility of the implant extracts was evaluated via the Alamar Blue test and by using cytometry techniques. More than 95 % of L929 cells were found to be living after 24 h of their culture with extracts collected from the implants with hybrid coatings. Additionally, the stability of different concentrations of clindamycin in aqueous solutions at various temperatures was analyzed. It was found that the storage of clindamycin at 4 °C caused the lowest changes in concentration. The concentration of clindamycin influenced both the L929 cells’ viability and bacterial inhibition.

关键词： Dental implant Antibacterial Clindamycin Biological analysis

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Towards supporting the development of collaboration skills in undergraduate university students 23

Towards supporting the development of collaboration skills i...

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23rd International Conference on computers in Education, ICCE 2015

作者： Zurita, Gustavo Cárdenas, Catalina Baloian, Nelson Management Control and Information Systems Department Economics and Business Faculty Universidad de Chile Chile Department of Computer Sciences Universidad de Chile Chile

ISBN: (纸本)9784990801458

Today's curricula for undergraduate students stress the development of skills, which have been defined as the "21st century skills". These skills include creativity, problem solving, decision-making, communication, collaboration and ICT literacy, among others. Accordingly, many higher education organizations, and particularly business schools, are designing new learning activities to train these skills. In this paper we present a learning activity and a supporting computer application called Sketchpad (sketching with iPads), which has been designed with the aim of training some of the "21st century skills". This learning activity has been introduced in the curricula of an undergraduate course of a business faculty in Santiago de Chile to foster collaborative skills by rotation of students among small groups working in a problem-solving task for an "Information Technology" undergraduate course. A questionnaire applied to the students in a first pilot experiment indicates that Sketchpad can help introducing learning activities that support the development of collaboration and communication skills in the classroom for the case where the rotation of the members among the groups is performed.

关键词： Curricula

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A non-trivial approach for low-frequency magnetic field simulation and visualization

A non-trivial approach for low-frequency magnetic field simu...

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作者： Dimitrova, Virginia Todorova Goranova, Mariana Evstatieva Faculty of Computer Systems and Control Technical University of Sofia 8 St. Kliment Ohridski street 1000 Sofia Bulgaria

ISBN: (纸本)9789604741137

The article presents a program decision that is intended to assist engineers and medical specialists to design and apply electromagnetic devices for therapeutic purposes. The suggested approach for the problem solving is non-trivial because it combines the power of the existing graphics package with the possibilities of a new code for electromagnetic calculations. The presented program decision demonstrates precise numerical results complemented by an understandable and attractive graphical representation. The implemented approach allows a high level of interaction during the whole process that includes: selection of a 3D model of human body part, creation and positioning of field sources, calculation and visualization of the summary field.

关键词： Three dimensional computer graphics

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Quantifying controllability for Nonlinear State-Dependent Riccati Equation control

Quantifying Controllability for Nonlinear State-Dependent Ri...

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2022 International Russian Automation Conference, RusAutoCon 2022

作者： Hu, Yuhui Neusypin, Konstantin Avenirovich Shen, Kai Bauman Moscow State Technical University Faculty of Computer Science and Control Systems Moscow Russia Beijing Institute of Technology School of Automation Beijing China

ISBN: (数字)9781665466554

ISBN: (纸本)9781665466554

Degree of controllability (DOC) characterizes how controllable a given system is and thus quantifying controllability can facilitate the control system synthesis and optimization. In this paper, the controllability of nonlinear input-affine systems and the state-dependent-coefficient (SDC) factorization are first reviewed. A computational procedure based on the scalarization of the controllability Gramian is proposed to quantify the controllability of both system and state variables of the SDC factored system for state-dependent Riccati equation (SDRE) control. The simulation of coordinate satellite control is carried out to validate the effectiveness of the proposed DOC criterion. It is shown that SDC-parameterized models with higher DOC can promote the performance of the SDRE control algorithm. © 2022 IEEE.

关键词： controllability

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