Robot coordination for energy-balanced matching and sequence dispatch of robots to events

Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch). In a distributed setting, each event is discovered by a sensor and reported to a robot. Here, we present novel algorithms aimed at overcoming the shortcomings of several existing solutions. We propose pairwise distance based matching algorithm (PDM) to eliminate long edges by pairwise exchanges between matching pairs. Our sequence dispatch algorithm (SQD) iteratively finds the closest event-robot pair, includes the event in dispatch schedule of the selected robot and updates its position accordingly. When event-robot distances are multiplied by robot resistance (inverse of the remaining energy), the corresponding energy-balanced variants are obtained. We also present generalizations which handle multiple visits and timing constraints. Our localized algorithm MAD is based on information mesh infrastructure and local auctions within the robot network for obtaining the optimal dispatch schedule for each robot. The simulations conducted confirm the advantages of our algorithms over other existing solutions in terms of average robot-event distance and lifetime.

Converged network-cloud service composition with end-to-end performance guarantee

The crucial role of networking in Cloud computing calls for federated management of both computing and networkin resources for end-To-end service provisioning. Application of the Service-Oriented Architecture (SOA) in both Cloud computing an networking enables a convergence of network and Cloud service provisioning. One of the key challenges to high performanc converged network-Cloud service provisioning lies in composition of network and Cloud services with end-To-end performanc guarantee. In this paper, we propose a QoS-Aware service composition approach to tackling this challenging issue. We first present system model for network-Cloud service composition and formulate the service composition problem as a variant of Multi-Constraine Optimal Path (MCOP) problem. We then propose an approximation algorithm to solve the problem and give theoretical analysis o properties of the algorithm to show its effectiveness and efficiency for QoS-Aware network-Cloud service composition. Performanc of the proposed algorithm is evaluated through extensive experiments and the obtained results indicate that the proposed metho achieves better performance in service composition than the best current MCOP approaches Service (QoS).

A cascade genetic algorithm and particle swarm approach for solving unit commitment and economic dispatch problems

Positive Unit commitment and economic dispatch are two important decisions in thermal power generation scheduling. The tasks involve determination and allocation of power generation to thermal units that minimize the total power generation cost and satisfy the production constraints.This paper presents a cascade Genetic Algorithm and Particle Swarm Optimization (GA-PSO) approach for solving thermal power generation scheduling based on a layered matrix encoding structure.The proposed hybrid method is compared to layered matrix encoding GA using the thermal power generation problem given in Williams [1] to demonstrate its effectiveness in generating an optimal, cost-effective power generation schedule.The results showed that cascade GA-PSO outperformed the layered matrix encoding GA in minimizing the total power production cost for unit commitment and power dispatch problems.

Finding the optimal cardinality value for information bottleneck method

Information Bottleneck method can be used as a dimensionality reduction approach by grouping “similar” features together [1]. In application, a natural question is how many “features groups” will be appropriate. The dependency on prior knowledge restricts the applications of many Information Bottleneck algorithms. In this paper we alleviate this dependency by formulating the parameter determination as a model selection problem, and solve it using the minimum message length principle. An efficient encoding scheme is designed to describe the information bottleneck solutions and the original data, then the minimum message length principle is incorporated to automatically determine the optimal cardinality value. Empirical results in the documentation clustering scenario indicates that the proposed method works well for the determination of the optimal parameter value for information bottleneck method.

On the effect of path loss rates on the optimal receiver position in sensor networks

In this paper we examine the problem of finding an optimal position for a receiver node in a single-hop sensor network. The basic idea is to minimize the network energy consumption according to a particular network cost function. Our contribution is to simply show the effect of signal path loss rates and sensor weighting on the optimal receiver position.

Maintaining optimal co-channel interference for power efficient wireless communication

Maintaining QoS (quality of service) guaranteed communication links, and improving the energy consumption; are two aspects that received a significant consideration in the modern wireless sensor network research. This paper formulates a transmission power control problem which satisfies both considerations mentioned above. Moreover, a class of functions for an iterative controller was introduced and analyzed for its convergence. The experimental evaluation of the controller justifies the theoretical assertions as well as the applicability of the control scheme in wireless nodes with minimum measurement capabilities.

Using immune genetic algorithm to optimize the reactive power

A novel algorithm, immune genetic algorithm (IGA) is proposed for reactive power optimization of power system. While retaining excellent characteristics of genetic algorithm (GA), through imitating the biological immune system, the algorithm evaluates and selects the optimal solutions by the affinities between antigens and antibodies. With the regulation of the activating and suppressing of antibodies, IGA can achieve the dynamic balance between individual diversity and population convergence, and avoid getting into the local optimal solution. The proposed IGA is applied to the IEEE 30-bus system, and the results show that it is superior to the GA with good population convergence and fast computing speed.

Optimal range-difference-based localization considering geometrical constraints

This paper proposes a new type of algorithm aimed at finding the traditional maximum-likelihood (TML) estimate of the position of a target given time-difference-of-arrival (TDOA) information, contaminated by noise. The novelty lies in the fact that a performance index, akin to but not identical with that in maximum likelihood (ML), is a minimized subject to a number of constraints, which flow from geometric constraints inherent in the underlying problem. The minimization is in a higher dimensional space than for TML, and has the advantage that the algorithm can be very straightforwardly and systematically initialized. Simulation evidence shows that failure to converge to a solution of the localization problem near the true value is less likely to occur with this new algorithm than with TML. This makes it attractive to use in adverse geometric situations.

Optimal multisensor data fusion for linear systems with missing measurements

Multisensor data fusion has attracted a lot of research in recent years. It has been widely used in many applications especially military applications for target tracking and identification. In this paper, we will handle the multisensor data fusion problem for systems suffering from the possibility of missing measurements. We present the optimal recursive fusion filter for measurements obtained from two sensors subject to random intermittent measurements. The noise covariance in the observation process is allowed to be singular which requires the use of generalized inverse. Illustration example shows the effectiveness of the proposed filter in the measurements loss case compared to the available optimal linear fusion methods.

A heuristic algorithm for carton to pallet loading problem

This paper presents an algorithm used to solve a carton to pallet packing problem in a drink manufacturing firm. The aim was to determine the cartons loading sequence and the number pallets required, prior to dispatch by truck. The algorithm consists of a series of nine parts to solve this industrial application problem. The pallet loading solution relatively computationally efficient and reduces the number pallets required, compared to other 'trail and error' or manual spreadsheet calculation methods.

Designing optimal fault tolerant Jacobian for robotic manipulators

Fault tolerance of robotic manipulators is determined based on the fault tolerance measures. In this study a Jacobian of a 7DOF optimal fault tolerant manipulator is designed based on optimality of worse case relative manipulability and worse case dexterity from geometric perspective instead of numerical solution of constrained optimisation problem or construction of optimal Jacobean through a desired null space. The proposed Jacobean matrix is optimal and equally fault tolerant for a single joint failure within any joint of the manipulators.

Asset-selling problem with an uncertain deadline, quitting offer, and search skipping option

This paper presents a discrete-time sequential stochastic asset-selling problem with an infinite planning horizon, where the process of selling the asset may reach a deadline at any point in time with a probability. It is assumed that a quitting offer is available at every point in time and search skipping is permitted. Thus, decisions must be made as to whether or not to accept the quitting offer, to accept an appearing buyer’s offer, and to conduct a search for a buyer. The main purpose of this paper is to clarify the properties of the optimal decision rules in relation to the model’s parameters.

Social stigma in diabetes : a framework to understand a growing problem for an increasing epidemic

A comprehensive understanding of the social and psychological impact of diabetes mellitus is important for informing policy and practice. One potentially significant, yet under-researched, issue is the social stigma surrounding diabetes. This narrative review draws on literature about health-related stigma in diabetes and other chronic conditions in order to develop a framework for understanding diabetes-related stigma. Our review of the literature found that people who do not have diabetes assume that diabetes is not a stigmatized condition. In contrast, people with diabetes report that stigma is a significant concern to them, experienced across many life domains, e.g., in the workplace, in relationships. The experience of diabetes-related stigma has a significant negative impact on many aspects of psychological well-being and may also result in sub-optimal clinical outcomes for people with diabetes. We propose a framework that highlights the causes (attitudes of blame, feelings of fear and disgust, and the felt need to enforce social norms and avoid disease), experiences (being judged, rejected, and discriminated against), and consequences (e.g., distress, poorer psychological well-being, and sub-optimal self-care) of diabetes-related stigma and also identifies potential mitigating strategies to reduce diabetes-related stigma and/or enhance coping and resilience amongst people with diabetes. The systematic investigation of the experiences, causes, and consequences of diabetes-related stigma is an urgent research priority.