An Error-Localization, Validation and Optimization Tool for Embedded Code Augmentation: an Architecture Oriented Approach

Embedded systems are usually designed for a single or a specified set of tasks. This specificity means the system design as well as its hardware/software development can be highly optimized. Embedded software must meet the requirements such as high reliability operation on resource-constrained platforms, real time constraints and rapid development. This necessitates the adoption of static machine codes analysis tools running on a host machine for the validation and optimization of embedded system codes, which can help meet all of these goals. This could significantly augment the software quality and is still a challenging field.Embedded systems are usually designed for a single or a specified set of tasks. This specificity means the system design as well as its hardware/software development can be highly optimized. Embedded software must meet the requirements such as high reliability operation on resource-constrained platforms, real time constraints and rapid development. This necessitates the adoption of static machine codes analysis tools running on a host machine for the validation and optimization of embedded system codes, which can help meet all of these goals. This could significantly augment the software quality and is still a challenging field.Embedded systems are usually designed for a single or a specified set of tasks. This specificity means the system design as well as its hardware/software development can be highly optimized. Embedded software must meet the requirements such as high reliability operation on resource-constrained platforms, real time constraints and rapid development. This necessitates the adoption of static machine codes analysis tools running on a host machine for the validation and optimization of embedded system codes, which can help meet all of these goals. This could significantly augment the software quality and is still a challenging field.Embedded systems are usually designed for a single or a specified set of tasks. This specificity means the system design as well as its hardware/software development can be highly optimized. Embedded software must meet the requirements such as high reliability operation on resource-constrained platforms, real time constraints and rapid development. This necessitates the adoption of static machine codes analysis tools running on a host machine for the validation and optimization of embedded system codes, which can help meet all of these goals. This could significantly augment the software quality and is still a challenging field.This dissertation contributes to an architecture oriented code validation, error localization and optimization technique assisting the embedded system designer in software debugging, to make it more effective at early detection of software bugs that are otherwise hard to detect, using the static analysis of machine codes. The focus of this work is to develop methods that automatically localize faults as well as optimize the code and thus improve the debugging process as well as quality of the code.Validation is done with the help of rules of inferences formulated for the target processor. The rules govern the occurrence of illegitimate/out of place instructions and code sequences for executing the computational and integrated peripheral functions. The stipulated rules are encoded in propositional logic formulae and their compliance is tested individually in all possible execution paths of the application programs. An incorrect sequence of machine code pattern is identified using slicing techniques on the control flow graph generated from the machine code.An algorithm to assist the compiler to eliminate the redundant bank switching codes and decide on optimum data allocation to banked memory resulting in minimum number of bank switching codes in embedded system software is proposed. A relation matrix and a state transition diagram formed for the active memory bank state transition corresponding to each bank selection instruction is used for the detection of redundant codes. Instances of code redundancy based on the stipulated rules for the target processor are identified.This validation and optimization tool can be integrated to the system development environment. It is a novel approach independent of compiler/assembler, applicable to a wide range of processors once appropriate rules are formulated. Program states are identified mainly with machine code pattern, which drastically reduces the state space creation contributing to an improved state-of-the-art model checking. Though the technique described is general, the implementation is architecture oriented, and hence the feasibility study is conducted on PIC16F87X microcontrollers. The proposed tool will be very useful in steering novices towards correct use of difficult microcontroller features in developing embedded systems.

A study of the hydrological features of the shelf water along the west coast of India with an attempt to explain their influence upon the living resources of the region

The objective of the present study is to elucidate the hydrological conditions of the shelf waters along the southern half or the west coast of India and their relation to the sooplankton bionase and pelagic fish resources. Data from six hydrography-plankton sections worked during the 1972-75 period of cape camerin. Quilon. cochin. Kasaragod. Karwar and kotnagiri formed the basis of the present study.Stations were fixed along the transects 10 nautical miles apart. Starting with the first station at around 15 metre depth and were usually occupied 5 to 8 times in an year at an interval of about 6 weeks. Data relating to oil sardines and macherel fisheries were availed from published information relating to the period mainly of the Central Marine fisheries Research Institute. The range of different parameters namely temperature. salinity. density and dissolved oxygen at different depths and their sloping features against the coast are discussed. Three seasons. namely south-west monsoon (summer monsoon). north-east monsoon (winter monsoon) and hot weather season are designated and data of the core months of each of these seasons considered in the study.

Packaging materials for shrimp, fish and fish products, their properties, selection and effect of different packaging materials on their shelf life

Packaging is important not only in extending the shellife of fish and fishery products but also improving their marketability. In the recent years, significant development have taken place in the packaging industry. During the past decade in India, there is almost a packaging revolution with the availability of variety packaging materials, thus generating better packaging consciousness in other producer/manufacturing industries. But unfortunately, such realisation is not forthcoming in the fisheries sector and packaging techniques for local and export trade continues to be on traditional lines with their inherent drawbacks and limitations. Better packaging ensures improved quality and presentation of the products and ensures higher returns to the producer. Among several packaging materials used in fishery industry, ISI specifications had been formulated only for corrugated fibre board boxes for export of seafoods and froglegs. This standard was formulated before containersiation came into existance in the export of marine products. Before containerisation, the standards were stringent in view of the rough handling, transportation and storage. Two of the common defects reported in the master cartons exported from India are low mechanical strength and tendency to get wet. They are weakened by the deposits of moisture caused by temperature fluctuations during loading, unloading and other handling stages. It is necessary to rectify the above defects in packaging aquatic products and hence in the present study extensive investigations are carried out to find out the reasons for the damage of master cartons, to evolve code of practice for the packaging oi frozen shrimp for exports, development of alternative style of packaging for the shipping container, development of suitable consumer packaging materials for fish soup powder, cured dried mackeral, fish pickles in oil and frozen shrimp. For the development of suitable packaging materials, it is absolutely essential to know the properties of packaging materials, effect of different packaging materials on theirshelf life and their suitability for food contact applications.

Effect Of Raw Material Quality On The Shelf Life Of Frozen Stored Fish And Fishery Products

Frozen storage characteristics and shelflife vary considerably among species as well as within the species (Powrie, 1973; Fennema. 1973). This can be attributed to the variation in the composition of fish among various species. In certain species like sardines and mackerel. wide seasonal variation in chemical composition occur within the species. These variations affect the quality and shelflife. The nutritional level of water. spawning, method of catching, struggling etc. are found to have profound influence on the condition of the fresh fish. Soon after death the deteriorative changes in fish start due to autolysis and bacterial growth. The rate of these changes depends mainly on temperature. The handling methods have great influence on bacterial contamination. Thus the type oi'handling. temperature control. period of chill storage. processing methods. type of freezing, condition of frozen storage and period of storage affect the quality and shelflife Of the fisho In the present study extensive investigations were carried out on various factors affecting the quality of fish as well as their effect on the physical. chemical and sensory qualities of fish during frozen storage and the shelflife

Biogeochemistry of the shelf sediments of south eastern Arabian sea: Effect on benthic bacterial heterotrophs

The composition and variability of heterotrophic bacteria along the shelf sediments of south west coast of India and its relationship with the sediment biogeochemistry was investigated. The bacterial abundance ranged from 1.12 x 103 – 1.88 x 106 CFU g-1 dry wt. of sediment. The population showed significant positive correlation with silt (r = 0.529, p< 0.05), organic carbon (OC) (r = 0.679, p< 0.05), total nitrogen (TN) (r = 0.638, p< 0.05), total protein (TPRT) (r = 0.615, p< 0.05) and total carbohydrate (TCHO) (r = 0.675, p< 0.05) and significant negative correlation with sand (r = -0.488, p< 0.05). Community was mainly composed of Bacillus, Alteromonas, Vibrio, Coryneforms, Micrococcus, Planococcus, Staphylococcus, Moraxella, Alcaligenes, Enterobacteriaceae, Pseudomonas, Acinetobacter, Flavobacterium and Aeromonas. BIOENV analysis explained the best possible environmental parameters i.e., carbohydrate, total nitrogen, temperature, pH and sand at 50m depth and organic matter, BPC, protein, lipid and temperature at 200m depth controlling the distribution pattern of heterotrophic bacterial population in shelf sediments. The Principal Component Analysis (PCA) of the environmental variables showed that the first and second principal component accounted for 65% and 30.6% of the data variance respectively. Canonical Correspondence Analysis (CCA) revealed a strong correspondence between bacterial distribution and environmental variables in the study area. Moreover, non-metric MDS (Multidimensional Scaling) analysis demarcated the northern and southern latitudes of the study area based on the bioavailable organic matter

Behaviour of REEs in a tropical estuary and adjacent continental shelf of southwest coast of India: Evidence from anomalies

The distribution and accumulation of the rare earth elements (REE) in the sediments of the Cochin Estuary and adjacent continental shelf were investigated. The rare earth elements like La, Ce, Pr, Nd, Sm, Eu, Gd, Tb, Dy, Ho, Er, Tm, Yb, Lu and the heavy metals like Mg, V, Cr, Mn, Fe, Cu, Zn, U, Th were analysed by using standard analytical methods. The Post-Archean Australian Shale composition was used to normalise the rare earth elements. It was found that the sediments were more enriched with the lighter rare earth elements than the heavier ones. The positive correlation between the concentrations of REE, Fe and Mn could explain the precipitation of oxyhydroxides in the study area. The factor analysis and correlation analysis suggest common sources of origin for the REEs. From the Ce-anomalies calculated, it was found that an oxic environment predominates in all stations except the station No. 2. The Eu-anomaly gave an idea that the origin of REEs may be from the feldspar. The parameters like total organic carbon, U/Th ratio, authigenic U, Cu/Zn, V/Cr ratios revealed the oxic environment and thus the depositional behaviour of REEs in the region

A Compiler Integrated Assistance for Optimum Data Allocation in Banked Memory Embedded Processors

Bank switching in embedded processors having partitioned memory architecture results in code size as well as run time overhead. An algorithm and its application to assist the compiler in eliminating the redundant bank switching codes introduced and deciding the optimum data allocation to banked memory is presented in this work. A relation matrix formed for the memory bank state transition corresponding to each bank selection instruction is used for the detection of redundant codes. Data allocation to memory is done by considering all possible permutation of memory banks and combination of data. The compiler output corresponding to each data mapping scheme is subjected to a static machine code analysis which identifies the one with minimum number of bank switching codes. Even though the method is compiler independent, the algorithm utilizes certain architectural features of the target processor. A prototype based on PIC 16F87X microcontrollers is described. This method scales well into larger number of memory blocks and other architectures so that high performance compilers can integrate this technique for efficient code generation. The technique is illustrated with an example

Spacelike maximal surfaces in 3D Lorentz-Minkowski space

We investigate spacelike maximal surfaces in 3-dimensional Lorentz-Minkowski space, give an Enneper-Weierstrass representation of such surfaces and classify those with a Lorentzian or Euclidian rotation symmetry.

Architecture and other Architectures: Mapping the Production of Insular Space in the Pearl River Delta (China) and Jakarta (Indonesia)

Globalization is widely regarded as the rise of the borderless world. However in practice, true globalization points rather to a “spatial logic” by which globalization is manifested locally in the shape of insular space. Globalization in this sense is not merely about the creation of physical fragmentation of space but also the creation of social disintegration. This study tries to proof that global processes also create various forms of insular space leading also to specific social implications. In order to examine the problem this study looks at two cases: China’s Pearl River Delta (PRD) and Jakarta in Indonesia. The PRD case reveals three forms of insular space namely the modular, concealed and the hierarchical. The modular points to the form of enclosed factories where workers are vulnerable for human-right violations due to the absent of public control. The concealed refers to the production of insular space by subtle discrimination against certain social groups in urban space. And the hierarchical points to a production of insular space that is formed by an imbalanced population flow. The Jakarta case attempts to show more types of insularity in relation to the complexity of a mega-city which is shaped by a culture of exclusion. Those are dormant and hollow insularity. The dormant refers to the genesis of insular– radical – community from a culture of resistance. The last type, the hollow, points to the process of making a “pseudo community” where sense of community is not really developed as well as weak social relationship with its surrounding. Although global process creates various expressions of territorial insularization, however, this study finds that the “line of flight” is always present, where the border of insularity is crossed. The PRD’s produces vernacular modernization done by peasants which is less likely to be controlled by the politics of insularization. In Jakarta, the culture of insularization causes urban informalities that have no space, neither spatially nor socially; hence their state of ephemerality continues as a tactic of place-making. This study argues that these crossings possess the potential for reconciling venue to defuse the power of insularity.

Gender and Space in Tehran

Abstract: This dissertation generally concentrates on the relationships between “gender” and “space” in the present time of urban life in capital city of Tehran. “Gender” as a changing social construct, differentiated within societies and through time, studied this time by investigation on “gender attitude” or “gender identity” means attitudes towards “gender” issues regarding Tehran residences. “Space” as a concept integrated from physical and social constituents investigated through focus on “spatial attitude” means attitudes towards using “living spaces” including private space of “house”, semi private semi public space of neighborhood and finally public spaces of the city. “Activities and practices” in space concentrated instead of “physical” space; this perspective to “space” discussed as the most justified implication of “space” in this debate regarding current situations in city of Tehran. Under a systematic approach, the interactions and interconnections between “gender” and “space” as two constituent variables of social organization investigated by focus on the different associations presented between different “gender identities” and their different “spatial identities”; in fact, “spatial identity” manifests “gender identity” and in opposite direction, “spatial identity” influences to construction of “gender identity”. The hypotheses of case study in Tehran defined as followed: • “Gender identity” is reflected on “spatial identity”. Various “gender identities” in Tehran present different perspectives of “space” or they identify “space” by different values. • As “gender identity” internalizes patriarchal oppression, it internalizes associated “spatial” oppression too. • Within the same social class, different “gender identities” related to men and women, present interconnected qualities, compared with “gender identities” related to men or women of different social classes. This situation could be found in the “spatial” perspectives of different groups of men and women too. • Following the upper hypotheses, “spatial” oppression differs among social classes of Tehran living in different parts of this city. This research undertook a qualitative study in Tehran by interviewing with different parents of both young daughter and son regarding their attitudes towards gender issues from one side and activities and behaviors of their children in different spaces from the other side. Results of case study indicated the parallel changes of parents’ attitudes towards “gender” and “spatial” issues; it means strong connection between “gender” and “space”. It revealed association of “equal” spatial attitudes with “open, neutral” gender attitudes, and also the association of “biased, unequal” spatial identities with “conservative patriarchal” gender identities. It was cleared too that this variable concept – gender space - changes by “sex”; mothers comparing fathers presented more equitable notions towards “gender spatial” issues. It changes too by “social class” and “educational level”, that means “gender spatial” identity getting more open equitable among more educated people of middle and upper classes. “Breadwinning status in the family” also presents its effect on the changes of “gender spatial” identity so participant breadwinners in the family expressed relatively more equitable notions comparing householders and housekeepers. And finally, “gender spatial” identity changes through “place” in the city and regarding South – North line of the city. The illustration of changes of “gender spatial” identity from “open” to “conservative” among society indicated not only vertical variation across social classes, furthermore the horizontal changing among each social class. These results also confirmed hypotheses while made precision on the third one regarding variable of sex. More investigations pointed to some inclusive spatial attitudes throughout society penetrated to different groups of “gender identities”, to “opens” as to “conservatives”, also to groups between them, by two opposite features; first kind, conservative biased spatial practices in favor of patriarchal gender relations and the second, progressive neutral actions in favor of equal gender relations. While the major reason for the inclusive conservative practices was referred to the social insecurity for women, the second neutral ones associated to more formal & safer spaces of the city. In conclusion, while both trends are associated deeply with the important issues of “sex” & “body” in patriarchal thoughts, still strong, they are the consequences of the transitional period of social change in macro level, and the challenges involved regarding interactions between social orders, between old system of patriarchy, the traditional biased “gender spatial” relations and the new one of equal relations. The case study drew an inhomogeneous illustration regarding gender spatial aspects of life in Tehran, the opposite groups of “open” and “conservative”, and the large group of “semi open semi conservative” between them. In macro perspective it presents contradicted social groups according their general life styles; they are the manifestations of challenging trends towards tradition and modernity in Iranian society. This illustration while presents unstable social situations, necessitates probing solutions for social integration; exploring the directions could make heterogeneous social groups close in the way they think and the form they live in spaces. Democratic approaches like participatory development planning might be helpful for the city in its way to more solidarity and sustainability regarding its social spatial – gender as well – development, in macro levels of social spatial planning and in micro levels of physical planning, in private space of house and in public spaces of the city.

Semantic web mining and the representation, analysis, and evolution of web space

Semantic Web Mining aims at combining the two fast-developing research areas Semantic Web and Web Mining. This survey analyzes the convergence of trends from both areas: Growing numbers of researchers work on improving the results of Web Mining by exploiting semantic structures in the Web, and they use Web Mining techniques for building the Semantic Web. Last but not least, these techniques can be used for mining the Semantic Web itself. The second aim of this paper is to use these concepts to circumscribe what Web space is, what it represents and how it can be represented and analyzed. This is used to sketch the role that Semantic Web Mining and the software agents and human agents involved in it can play in the evolution of Web space.

Beyond - Another view on space and landscape

Die Beiträge dieser Veröffentlichung sind aus Vorträgen anlässlich der Postdoc-Konferenz zu Ehren von Prof. Dr. Detlev Ipsen, der sich im September 2010 aus dem Universitätsdienst verabschiedete, entstanden. Das inhaltliche Kernprogramm der Postdoc-Konferenz war bewusst auf sehr unterschiedliche Perspektiven auf den Raum und die Raumwahrnehmung ausgerichtet und bildet sich auch in den Beiträgen dieser Veröffentlichung ab. Elisabeth Heidenreich widmet sich in ihrem Beitrag „Der moderne Dschihad und seine (sakralen) Räume“ den technischen Räumen des islamistischen Terrorismus. Hans-Ulrich Werner zeigt in seinem Beitrag „SoundScapes als Klang und Raum“ verschiedene Begegnungen der Musik- und Klangwissenschaft mit der Stadt- und Umweltplanung auf und setzt sich mit der Bedeutung und Transformation von „Klangräumen“ in der Planung auseinander. Der Beitrag von Susanne Kost „Kulturbedingte Unterschiede im Landschaftsbewusstsein – eine Annäherung“ analysiert, wie und wodurch sich bestimmte Handlungs- und Wahrnehmungsweisen in Kulturen entwickelt haben könnten und ob sich am Beispiel der Niederlande bestimmte Muster der Landschaftswahrnehmung identifizieren lassen. Ilya Maharika erörtert in seinem Beitrag „Urban Gene of Desakota. A Dynamic of Indonesian Urban-Rural Continuum with the Case of Yogyakarta Region” internationale Phänomene und Dynamiken im Stadt-Land-Gefüge.

Understanding Recreational Services of Urban Riverfront Space for Planning Purposes

In the process of urbanization, natural and semi-natural landscapes are increasingly cherished as open space and recreational resource. Urban rivers are part of this kind of resource and thus play an important role in managing urban resilience and health. Employing the example of Tianjin, this doctoral dissertation research aims at learning to understand how to plan and design for the interface zones between urban water courses and for the land areas adjacent to such water courses. This research also aims at learning how to link waterfront space with other urban space in order to make a recreational space system for the benefit of people. Five questions of this dissertation are: 1) what is the role of rivers in spatial and open space planning? 2) What are the human needs regarding outdoor open space? 3) How do river and water front spatial structures affect people's recreational activities? 4) How to define the recreational service of urban river and waterfront open space? 5) How might answering these question change planning and design of urban open space? Quantitative and qualitative empirical approaches were combined in this study for which literature review and theoretical explorations provide the basis. Empirical investigations were conducted in the city of Tianjin. The quantitative approach includes conducting 267 quantitative interviews, and the qualitative approach includes carrying out field observations and mappings. GIS served to support analysis and visualization of empirical information that was generated through this study. By responding to the five research questions, findings and lessons include the following: 1) In the course of time rivers have gained importance in all levels and scales of spatial planning and decision making. Regarding the development of ecological networks, mainly at national scale, rivers are considered significant linear elements. Regarding regional and comprehensive development, river basins and watersheds are often considered as the structural link for strategic ecological, economic, social and recreational planning. For purposes of urban planning, particularly regarding recreational services in cities, the distribution of urban open spaces often follows the structure of river systems. 2) For the purpose of classifying human recreational needs that relate to outdoor open space Maslow's hierarchy of human needs serves as theoretical basis. The classes include geographical, safety, physiological, social and aesthetic need. These classes serve as references while analyzing river and waterfront open space and other kinds of open space. 3) Regarding the question how river and waterfront spatial structures might affect people's recreational activities, eight different landscape units were identified and compared in the case study area. Considering the thermal conditions of Tianjin, one of these landscape units was identified as affording the optimal spatial arrangement which mostly meets recreational needs. The size and the shape of open space, and the plants present in an open space have been observed as being most relevant regarding recreational activities. 4) Regarding the recreational service of urban river and waterfront open space the results of this research suggest that the recreational service is felt less intensively as the distances between water 183 front and open space user’s places of residence are increasing. As a method for estimating this ‘Service Distance Effect’ the following formula may be used: Y = a*ebx. In this equation Y means the ‘Service Distance’ between homes and open space, and X means the percentage of the people who live within this service distance. Coefficient "a" represents the distance of the residential area nearest to the water front. The coefficient "b" is a comprehensive capability index that refers to the size of the available and suitable recreational area. 5) Answers found to the questions above have implications for the planning and design of urban open space. The results from the quantitative study of recreational services of waterfront open space were applied to the assessment of river-based open space systems. It is recommended that such assessments might be done employing the network analysis function available with any GIS. In addition, several practical planning and designing suggestions are made that would help remedy any insufficient base for satisfying recreational needs. The understanding of recreational need is considered helpful for the proposing planning and designing ideas and for the changing of urban landscapes. In the course of time Tianjin's urban water system has shrunk considerably. At the same time rivers and water courses have shaped Tianjin's urban structure in noticeable ways. In the process of urbanization water has become increasingly important to the citizens and their everyday recreations. Much needs to be changed in order to improve recreational opportunities and to better provide for a livable city, most importantly when considering the increasing number of old people. Suggestions made that are based on results of this study, might be implemented in Tianjin. They are 1) to promote the quality of the waterfront open space and to make all linear waterfront area accessible recreational spaces. Then, 2), it is advisable to advocate the concept of green streets and to combine green streets with river open space in order to form an everyday recreational network. And 3) any sound urban everyday recreational service made cannot rely on only urban rivers; the whole urban structure needs to be improved, including adding small open space and optimize the form of urban communities, finally producing a multi-functional urban recreational network.

Multi-Robot Task Allocation for Inspection Problems with Cooperative Tasks Using Hybrid Genetic Algorithms

In dieser Dissertation werden Methoden zur optimalen Aufgabenverteilung in Multirobotersystemen (engl. Multi-Robot Task Allocation – MRTA) zur Inspektion von Industrieanlagen untersucht. MRTA umfasst die Verteilung und Ablaufplanung von Aufgaben für eine Gruppe von Robotern unter Berücksichtigung von operativen Randbedingungen mit dem Ziel, die Gesamteinsatzkosten zu minimieren. Dank zunehmendem technischen Fortschritt und sinkenden Technologiekosten ist das Interesse an mobilen Robotern für den Industrieeinsatz in den letzten Jahren stark gestiegen. Viele Arbeiten konzentrieren sich auf Probleme der Mobilität wie Selbstlokalisierung und Kartierung, aber nur wenige Arbeiten untersuchen die optimale Aufgabenverteilung. Da sich mit einer guten Aufgabenverteilung eine effizientere Planung erreichen lässt (z. B. niedrigere Kosten, kürzere Ausführungszeit), ist das Ziel dieser Arbeit die Entwicklung von Lösungsmethoden für das aus Inspektionsaufgaben mit Einzel- und Zweiroboteraufgaben folgende Such-/Optimierungsproblem. Ein neuartiger hybrider Genetischer Algorithmus wird vorgestellt, der einen teilbevölkerungbasierten Genetischen Algorithmus zur globalen Optimierung mit lokalen Suchheuristiken kombiniert. Zur Beschleunigung dieses Algorithmus werden auf die fittesten Individuen einer Generation lokale Suchoperatoren angewendet. Der vorgestellte Algorithmus verteilt die Aufgaben nicht nur einfach und legt den Ablauf fest, sondern er bildet auch temporäre Roboterverbünde für Zweiroboteraufgaben, wodurch räumliche und zeitliche Randbedingungen entstehen. Vier alternative Kodierungsstrategien werden für den vorgestellten Algorithmus entworfen: Teilaufgabenbasierte Kodierung: Hierdurch werden alle möglichen Lösungen abgedeckt, allerdings ist der Suchraum sehr groß. Aufgabenbasierte Kodierung: Zwei Möglichkeiten zur Zuweisung von Zweiroboteraufgaben wurden implementiert, um die Effizienz des Algorithmus zu steigern. Gruppierungsbasierte Kodierung: Zeitliche Randbedingungen zur Gruppierung von Aufgaben werden vorgestellt, um gute Lösungen innerhalb einer kleinen Anzahl von Generationen zu erhalten. Zwei Umsetzungsvarianten werden vorgestellt. Dekompositionsbasierte Kodierung: Drei geometrische Zerlegungen wurden entworfen, die Informationen über die räumliche Anordnung ausnutzen, um Probleme zu lösen, die Inspektionsgebiete mit rechteckigen Geometrien aufweisen. In Simulationsstudien wird die Leistungsfähigkeit der verschiedenen hybriden Genetischen Algorithmen untersucht. Dazu wurde die Inspektion von Tanklagern einer Erdölraffinerie mit einer Gruppe homogener Inspektionsroboter als Anwendungsfall gewählt. Die Simulationen zeigen, dass Kodierungsstrategien, die auf der geometrischen Zerlegung basieren, bei einer kleinen Anzahl an Generationen eine bessere Lösung finden können als die anderen untersuchten Strategien. Diese Arbeit beschäftigt sich mit Einzel- und Zweiroboteraufgaben, die entweder von einem einzelnen mobilen Roboter erledigt werden können oder die Zusammenarbeit von zwei Robotern erfordern. Eine Erweiterung des entwickelten Algorithmus zur Behandlung von Aufgaben, die mehr als zwei Roboter erfordern, ist möglich, würde aber die Komplexität der Optimierungsaufgabe deutlich vergrößern.