Safe Autonomous Agent Formation Operations Via Obstacle Collision Avoidance

In this paper, we consider the problem of flocking and shape‐orientation control of multi‐agent systems with inter‐agent and obstacle collision avoidance. We first consider the problem of forcing a set of autonomous agents to form a desired formation shape and orientation while avoiding inter‐agent collision and collision with convex obstacles, and following a trajectory known to only one of the agents, namely the leader of the formation. Then we build upon the solution given to this problem and solve the problem of guaranteeing obstacle collision avoidance by changing the size and the orientation of the formation. Changing the size and the orientation of the formation is helpful when the agents want to go through a narrow passage while the existing size or orientation of the formation does not allow this. We also propose collision avoidance algorithms that temporarily change the shape of the formation to avoid collision with stationary or moving nonconvex obstacles. Simulation results are presented to show the performance of the proposed control laws.     

Estimation of magnitude and time duration of temporary overvoltages using ANN in transmission lines during power system restoration

In most countries, the main step in the process of power system restoration, following a complete/partial blackout, is energization of primary restorative transmission lines. Artificial neural network (ANN) is employed for performing a nonlinear input–output mapping in this work, in order to estimate the temporary overvoltages (TOVs) due to transmission lines energization. In the proposed methodology, Levenberg–Marquardt second order method is used to train the multilayer perceptron. Proposed ANN is trained with equivalent circuit parameters of the network as input parameters, trained ANN has therefore satisfactory generalization capability. Both single and three-phase line energizations are analyzed. The simulated results for 39-bus New England test system, indicate that the proposed technique can estimate the peak values and duration of switching overvoltages with acceptable accuracy.     

Scatter search technique for exam timetabling

At universities where students enjoy flexibility in selecting courses, the Registrar’s office aims to generate an appropriate exam timetable for numerous courses and large number of students. An appropriate, real-world exam timetable should show fairness towards all students, respecting the following constraints: (a) eliminating or minimizing the number of simultaneous exams; (b) minimizing the number of consecutive exams; (c) minimizing the number of students with two or three exams per day (d) eliminating the possibility of more than three exams per day (e) exams should fit in rooms with predefined capacity; and (f) the number of exam periods is limited. These constraints are conflicting, which makes exam timetabling intractable. Hence, solving this problem in realistic time requires the use of heuristic approaches. In this work, we develop an evolutionary heuristic technique based on the scatter search approach for finding good suboptimal solutions for exam timetabling. This approach is based on maintaining and evolving a population of solutions. We evaluate our suggested technique on real-world university data and compare our results with the registrar’s manual timetable in addition to the timetables of other heuristic optimization algorithms. The experimental results show that our adapted scatter search technique generates better timetables than those produced by the registrar, manually, and by other meta-heuristics.     

Data Transformation in Cross-project Defect Prediction

Software metrics rarely follow a normal distribution. Therefore, software metrics are usually transformed prior to building a defect prediction model. To the best of our knowledge, the impact that the transformation has on cross-project defect prediction models has not been thoroughly explored. A cross-project model is built from one project and applied on another project. In this study, we investigate if cross-project defect prediction is affected by applying different transformations (i.e., log and rank transformations, as well as the Box-Cox transformation). The Box-Cox transformation subsumes log and other power transformations (e.g., square root), but has not been studied in the defect prediction literature. We propose an approach, namely Multiple Transformations (MT), to utilize multiple transformations for cross-project defect prediction. We further propose an enhanced approach MT+ to use the parameter of the Box-Cox transformation to determine the most appropriate training project for each target project. Our experiments are conducted upon three publicly available data sets (i.e., AEEEM, ReLink, and PROMISE). Comparing to the random forest model built solely using the log transformation, our MT+ approach improves the F-measure by 7, 59 and 43% for the three data sets, respectively. As a summary, our major contributions are three-fold: 1) conduct an empirical study on the impact that data transformation has on cross-project defect prediction models; 2) propose an approach to utilize the various information retained by applying different transformation methods; and 3) propose an unsupervised approach to select the most appropriate training project for each target project.     

Short‐Time Linear Quadratic Form Technique for Estimating Fast‐Varying Parameters in Feedback Loops

The precision of a closed‐loop controller system designed for an uncertain plant depends strongly upon the maximum extent to which it is possible to track the trend of time‐varying parameters of the plant. The aim of this study is to describe a new parameter estimation algorithm that is able to follow fast‐varying parameters in closed‐loop systems. The short‐time linear quadratic form (STLQF) estimation algorithm introduced in this paper is a technique for tracking time‐varying parameters based on short‐time analysis of the regressing variables in order to minimize locally a linear quadratic form cost function. The established cost function produces a linear combination of errors with several delays. To meet this objective, mathematical development of the STLQF estimation algorithm is described. To implement the STLQF algorithm, the algorithm is applied to a planar mobile robot with fast‐varying parameters of inertia and viscous and coulomb frictions. Next, performance of the proposed algorithm is assessed against noise effects and variation in the type of parameters.     

Methodology for in-line rheology by ultrasound Doppler velocity profiling and pressure difference techniques

This paper describes a methodology for measuring rheological flow properties in-line, in real-time, based on simultaneous measurements of velocity profiles using an ultrasound velocity profiling (UVP) technique with pressure difference (PD) technology. The methodology allows measurements that are rapid, non-destructive and non-invasive and has several advantages over methods presented previously. The set-up used here allows direct access to demodulated echo amplitude data, thus providing an option to switch between time domain algorithms and algorithms based on FFT for estimating velocities, depending on the signal-to-noise ratio (SNR) and time resolution required. Software based on the MATLAB^® graphical user interface (GUI) has been developed and provides a powerful and rapid tool for visualizing and processing the data acquired, giving rheological information in real-time and in excellent agreement with conventional methods. This paper further focuses on crucial aspects of the methodology: implementation of low-pass filter and singular value decomposition (SVD) methods, non-invasive measurements and determination of the wall positions using channel correlation and methods based on SVD. Measurements of sound velocity and attenuation of ultrasound in-line were introduced to increase measurement accuracy and provide an interesting approach to determine particle concentration in-line. The UVP-PD methodology presented may serve as an in-line tool for non-invasive, real-time monitoring and process control.     

From Side Chains Rattling on Picoseconds to Ensemble Simulations of Protein Folding

Simulations of biological macromolecules have evolved tremendously since the discoveries of the 1970s. The field has moved from simple simulations in vacuo on picosecond scales to milliseconds of accurate sampling of large proteins, and it has become a standard tool in biochemistry and biophysics, rather than a dedicated theoretical one. This is partly due to increasing computational power, but it would not have been possible without huge research efforts invested in new algorithms and software. Here, we illustrate some of this development, both past and future challenges, and in particular, discuss how the recent introduction of modern ensemble methods is breaking the trend of ever-longer simulations to instead focus on throughput and sampling. This has not only helped simulations become much more accurate, but it provides statistical error estimates, which are critical, as simulations are increasingly used to predict properties that have not yet been measured experimentally.     

Colour and ergonomics: On the selection of a “colour of the year”

The key role of colour in ergonomics has been emphasized by a number of researchers and design professionals. Although several research studies have been published regarding the use of colour in ergonomics, there are still some areas that need to be considered. The issue of deciding a “colour of the year” is an example, which represents a new challenge for researchers in the field of ergonomics. This is of particular interest considering the fact that the nature of research on the selection of a “colour of the year” is generally based on user experience. This paper argues that ergonomics should play a more prominent role in this field to ensure better user experience and performance. This paper highlights specific areas that need further study and development.     

A single-phase p-type ac–ac converter with reduced components count and high boost factor

This paper proposes a new single-phase direct step-up ac–ac converter by modifying the p-type impedance source. It provides a high boost factor as well as high efficiency, while only six parts are required to design it, involving just two bidirectional power switches. A safe commutation method has been applied to power switches to make the converter snubber-free and high efficient. Input and output harmonic filters are no longer required since input and output currents variate continuously with small ripple and low total harmonic distortion (THD). The proposed topology only modulates the output voltage amplitude, not the phase and frequency, so the output frequency is identical to the input frequency and constant. Thus, it can be utilized in step-up conversion applications, like inductive power transmission from low ac voltage sources. Input and output have the same ground, which is a good protective feature. In this paper, the operating principle of the converter is demonstrated. Experimental results have been represented to evaluate the performance of the converter. For this purpose, an experimental prototype has been fabricated. Results are investigated and compared with other previous step-up ac–ac converters. Results confirm the theory, operating principle, and performance of the converter.     

Robust Diversity-based Sine-Cosine Algorithm for Optimizing Hydropower Multi-reservoir Systems

Hydropower energy generation depends on the available water resources. Therefore, planning and operation of the water resource systems are paramount tasks for energy management. Since reservoirs are one of the important components of water resources systems, extracting optimal operating policies for proper management of energy generated from these systems is an imperative step. Optimizing reservoir system operation (ORSO) is a non-linear, large-scale, and non-convex problem with a large number of constraints and decision variables. To solve ORSO problem effectively, a robust diversity-based, sine-cosine algorithm (RDB-SCA) is developed in the present study by introducing several strategies to balance the global exploration and local exploitation ability and to achieve accurate and reliable solutions. An efficient linear operation rule is coupled with the RDB-SCA to maximize the energy generation. The proposed method is then applied to a real-world, multi-reservoir system to extract optimal operational policies and, consequently, maximize the energy production. It is shown that the RDB-SCA is able to generate 24, 14, and 6% more energy than the original SCA, respectively for 2-, 3-, and 4-reservoir systems. The present findings are useful to suggest guidelines for efficient operation of hydropower multi-reservoir systems. This paper is supported by https://imanahmadianfar.com/codes.