Dissertação (mestrado)—Universidade de Brasília, Faculdade de Tecnologia, Departamento de Engenharia Elétrica, 2014. / Submitted by Ana Cristina Barbosa da Silva (annabds@hotmail.com) on 2014-11-25T17:23:31Z No. of bitstreams: 1 2014_RafaelCortesdePaiva.pdf: 7660330 bytes, checksum: eaad53db8e1c76edec638a3e30ee5f3e (MD5) / Approved for entry into archive by Raquel Viana(raquelviana@bce.unb.br) on 2014-11-25T17:58:53Z (GMT) No. of bitstreams: 1 2014_RafaelCortesdePaiva.pdf: 7660330 bytes, checksum: eaad53db8e1c76edec638a3e30ee5f3e (MD5) / Made available in DSpace on 2014-11-25T17:58:54Z (GMT). No. of bitstreams: 1 2014_RafaelCortesdePaiva.pdf: 7660330 bytes, checksum: eaad53db8e1c76edec638a3e30ee5f3e (MD5) / Nesse trabalho foi realizado o estudo de técnicas bio-inspiradas para gerar a marcha de um robô bípede. Foi utilizado o conceito de CPG, Central Pattern Generator (CPG), que é uma rede neural capaz de produzir respostas rítmicas. Elas foram modeladas como osciladores acoplados chamados de osciladores neurais. Para tanto foram utilizados alguns modelos de osciladores, o modelo de Matsuoka, o modelo de Kuramoto e o modelo de Kuramoto com acoplamento entre a dinâmica do oscilador e a dinâmica da marcha. Foram usados dois modelos de robôs, o Bioloid e o NAO. Para otimizar os parâmetros dos osciladores foram utilizados o Algoritmo Genético (AG), o Particle Swarm Optimization (PSO) e o Nondominated sorting Genetic Algorithm II (NSGA-II). Foi utilizada uma função de custo que através de determinadas condições tem como objetivo obter uma marcha eficiente. No NSGA-II, além dessa função de custo, foi utilizada outra função de custo que considera o trabalho realizado pelo robô. Além disso, também foi utilizada a aprendizagem por reforço para treinar um controlador que corrige a postura do robô durante a marcha. Foi possível propor um framework para obter os parâmetros dos osciladores e através dele obter uma marcha estável em ambas as plataformas. Também foi possível propor um framework utilizando aprendizagem por reforço para treinar um controlador para corrigir a postura do robô com a marcha sendo gerado pelo oscilador de Kuramoto com acoplamento. O objetivo do algoritmo foi minimizar a velocidade do ângulo de arfagem do corpo do robô, dessa forma, a variação do ângulo de arfagem também foi minimizada consequentemente. Além disso, o robô andou mais “cautelosamente” para poder manter a postura e dessa forma percorreu uma distância menor do que se estivesse sem o controlador. ______________________________________________________________________________ ABSTRACT / This document describes computational optimized bipedal robot gait generators. Thegaits are applied by a neural oscillator, composed of coupled central pattern generators(CPG), which are neural networks capable of producing rhythmic output. The models ofthe oscillators used were the Matsuoka model, Kuramoto model and Kura moto model withcoupling between the dynamics of the oscillator and dynamics of the gait. Two bipedalrobots, a NAO and a Bioloid, were used. The neural oscillators were optimized with threealgorithms, a Genetic Algorithm (GA), Particle Swarm Optimization (PSO) and Nondominatedsorting Genetic Algorithm II (NSGA-II). It was used a fitness function that has theobjective to obtain an efficient gait through some conditions. In NSGA-II, besides this fitnessfunction, another one was used that has the objective to minimize the work done by therobot. Additionally, reinforcement learning techniques were used to train a controller thatcorrects the robots gait posture. It was proposed a framework to obtain the parameters of theoscillators used and obtain efficient gaits in both robots. Also, it was proposed a frameworkusing reinforcement learning to train a controller to correct the robots gait posture. The objective of the algorithm was to minimize the pitch angular velocity, consequently the pitchangle standard deviation was minimized. Additionally, the robot moved with more “caution” and walked less compared with the walk without the posture controller.

Context. Building autonomous racing car controllers is a growing field of computer science which has been receiving great attention lately. An approach named Artificial Potential Fields (APF) is used widely as a path finding and obstacle avoidance approach in robotics and vehicle motion controlling systems. The use of APF results in a collision free path, it can also be used to achieve other goals such as overtaking and maneuverability. Objectives. The aim of this thesis is to build an autonomous racing car controller that can achieve good performance in terms of speed, time, and damage level. To fulfill our aim we need to achieve optimality in the controller choices because racing requires the highest possible performance. Also, we need to build the controller using algorithms that does not result in high computational overhead. Methods. We used Particle Swarm Optimization (PSO) in combination with APF to achieve optimal car controlling. The Open Racing Car Simulator (TORCS) was used as a testbed for the proposed controller, we have conducted two experiments with different configuration each time to test the performance of our APF- PSO controller. Results. The obtained results showed that using the APF-PSO controller resulted in good performance compared to top performing controllers. Also, the results showed that the use of PSO proved to enhance the performance compared to using APF only. High performance has been proven in the solo driving and in racing competitions, with the exception of an increased level of damage, however, the level of damage was not very high and did not result in a controller shut down. Conclusions. Based on the obtained results we have concluded that the use of PSO with APF results in high performance while taking low computational cost.

The recent advent of bioinformatics has given rise to the central and recurrent problem of optimally aligning biological sequences. Many techniques have been proposed in an attempt to solve this complex problem with varying degrees of success. This thesis investigates the application of a computational intelligence technique known as particle swarm optimization (PSO) to the multiple sequence alignment (MSA) problem. Firstly, the performance of the standard PSO (S-PSO) and its characteristics are fully analyzed. Secondly, a scalability study is conducted that aims at expanding the S-PSO’s application to complex MSAs, as well as studying the behaviour of three other kinds of PSOs on the same problems. Experimental results show that the PSO is efficient in solving the MSA problem and compares positively with well-known CLUSTAL X and T-COFFEE. / Dissertation (MSc)--University of Pretoria, 2009. / Computer Science / Unrestricted

Production scheduling is one of the most important issues in the planning and operation of manufacturing systems. Customers increasingly expect to receive the right product at the right price at the right time. Various problems experienced in manufacturing, for example low machine utilization and excessive work-in-process, can be attributed directly to inadequate scheduling. In this dissertation a production scheduling algorithm is developed for Optimatix, a South African-based company specializing in supply chain optimization. To address the complex requirements of the customer, the problem was modeled as a flexible job shop scheduling problem with sequence-dependent set-up times, auxiliary resources and production down time. The algorithm development process focused on investigating the application of both particle swarm optimization (PSO) and differential evolution (DE) to production scheduling environments characterized by multiple machines and multiple objectives. Alternative problem representations, algorithm variations and multi-objective optimization strategies were evaluated to obtain an algorithm which performs well against both existing rule-based algorithms and an existing complex flexible job shop scheduling solution strategy. Finally, the generality of the priority-based algorithm was evaluated by applying it to the scheduling of production and maintenance activities at Centurion Ice Cream and Sweets. The production environment was modeled as a multi-objective uniform parallel machine shop problem with sequence-dependent set-up times and unavailability intervals. A self-adaptive modified vector evaluated DE algorithm was developed and compared to classical PSO and DE vector evaluated algorithms. Promising results were obtained with respect to the suitability of the algorithms for solving a range of multi-objective multiple machine scheduling problems. Copyright / Dissertation (MEng)--University of Pretoria, 2009. / Industrial and Systems Engineering / unrestricted

Temporal data is common in real-world datasets. Analysis of such data, for example by means of clustering algorithms, can be difficult due to its dynamic behaviour. There are various types of changes that may occur to clusters in a dataset. Firstly, data patterns can migrate between clusters, shrinking or expanding the clusters. Additionally, entire clusters may move around the search space. Lastly, clusters can split and merge. Data clustering, which is the process of grouping similar objects, is one approach to determine relationships among data patterns, but data clustering approaches can face limitations when applied to temporal data, such as difficulty tracking the moving clusters. This research aims to analyse the ability of particle swarm optimisation (PSO) and differential evolution (DE) algorithms to cluster temporal data. These algorithms experience two weaknesses when applied to temporal data. The first weakness is the loss of diversity, which refers to the fact that the population of the algorithm converges, becoming less diverse and, therefore, limiting the algorithm’s exploration capabilities. The second weakness, outdated memory, is only experienced by the PSO and refers to the previous personal best solutions found by the particles becoming obsolete as the environment changes. A data clustering algorithm that addresses these two weaknesses is necessary to cluster temporal data. This research describes various adaptations of PSO and DE algorithms for the purpose of clustering temporal data. The algorithms proposed aim to address the loss of diversity and outdated memory problems experienced by PSO and DE algorithms. These problems are addressed by combining approaches previously used for the purpose of dealing with temporal or dynamic data, such as repulsion and anti-convergence, with PSO and DE approaches used to cluster data. Six PSO algorithms are introduced in this research, namely the data clustering particle swarm optimisation (DCPSO), reinitialising data clustering particle swarm optimisation (RDCPSO), cooperative data clustering particle swarm optimisation (CDCPSO), multi-swarm data clustering particle swarm optimisation (MDCPSO), cooperative multi-swarm data clustering particle swarm optimisation (CMDCPSO), and elitist cooperative multi-swarm data clustering particle swarm optimisation (eCMDCPSO). Additionally, four DE algorithms are introduced, namely the data clustering differential evolution (DCDE), re-initialising data clustering differential evolution (RDCDE), dynamic data clustering differential evolution (DCDynDE), and cooperative dynamic data clustering differential evolution (CDCDynDE). The PSO and DE algorithms introduced require prior knowledge of the total number of clusters in the dataset. The total number of clusters in a real-world dataset, however, is not always known. For this reason, the best performing PSO and best performing DE are compared. The CDCDynDE is selected as the winning algorithm, which is then adapted to determine the optimal number of clusters dynamically. The resulting algorithm is the k-independent cooperative data clustering differential evolution (KCDCDynDE) algorithm, which was compared against the local network neighbourhood artificial immune system (LNNAIS) algorithm, which is an artificial immune system (AIS) designed to cluster temporal data and determine the total number of clusters dynamically. It was determined that the KCDCDynDE performed the clustering task well for problems with frequently changing data, high-dimensions, and pattern and cluster data migration types. / Dissertation (MSc)--University of Pretoria, 2015. / Computer Science / Unrestricted

The thesis deals with a parametric analysis of a magnetic multiband antenna and explains the principle of its operation. In the thesis, an optimization of the antenna by the particle swarm optimization is performed in order to meet impedance matching in prescribed frequency bands.

This thesis deals with design and implementation of an investment model, which applies methods of Post-modern portfolio theory. Particle swarm optimization (PSO) metaheuristic was used for portfolio optimization and the parameters were analyzed with several experiments. Johnsons SU distribution was used for estimation of future returns as it proved to be the best of analyzed distributions. The result is software application written in Python, which is tested for stability and performance of model in extreme situations.

The phenomenon of overfitting, where a feed-forward neural network (FFNN) over trains on training data at the cost of generalisation accuracy is known to be speci c to the training algorithm used. This study investigates over tting within the context of particle swarm optimised (PSO) FFNNs. Two of the most widely used PSO algorithms are compared in terms of FFNN accuracy and a description of the over tting behaviour is established. Each of the PSO components are in turn investigated to determine their e ect on FFNN over tting. A study of the maximum velocity (Vmax) parameter is performed and it is found that smaller Vmax values are optimal for FFNN training. The analysis is extended to the inertia and acceleration coe cient parameters, where it is shown that speci c interactions among the parameters have a dominant e ect on the resultant FFNN accuracy and may be used to reduce over tting. Further, the signi cant e ect of the swarm size on network accuracy is also shown, with a critical range being identi ed for the swarm size for e ective training. The study is concluded with an investigation into the e ect of the di erent activation functions. Given strong empirical evidence, an hypothesis is made that stating the gradient of the activation function signi cantly a ects the convergence of the PSO. Lastly, the PSO is shown to be a very effective algorithm for the training of self-adaptive FFNNs, capable of learning from unscaled data. / Dissertation (MSc)--University of Pretoria, 2014. / tm2015 / Computer Science / MSc / Unrestricted

Particle swarm optimization (PSO) is a well-known stochastic population-based search algorithm, originally developed by Kennedy and Eberhart in 1995. Given PSO's success at solving numerous real world problems, a large number of PSO variants have been proposed. However, unlike the original PSO, most variants currently have little to no existing theoretical results. This lack of a theoretical underpinning makes it difficult, if not impossible, for practitioners to make informed decisions about the algorithmic setup. This thesis focuses on the criteria needed for particle stability, or as it is often refereed to as, particle convergence. While new PSO variants are proposed at a rapid rate, the theoretical analysis often takes substantially longer to emerge, if at all. In some situation the theoretical analysis is not performed as the mathematical models needed to actually represent the PSO variants become too complex or contain intractable subproblems. It is for this reason that a rapid means of determining approximate stability criteria that does not require complex mathematical modeling is needed. This thesis presents an empirical approach for determining the stability criteria for PSO variants. This approach is designed to provide a real world depiction of particle stability by imposing absolutely no simplifying assumption on the underlying PSO variant being investigated. This approach is utilized to identify a number of previously unknown stability criteria. This thesis also contains novel theoretical derivations of the stability criteria for both the fully informed PSO and the unified PSO. The theoretical models are then empirically validated utilizing the aforementioned empirical approach in an assumption free context. The thesis closes with a substantial theoretical extension of current PSO stability research. It is common practice within the existing theoretical PSO research to assume that, in the simplest case, the personal and neighborhood best positions are stagnant. However, in this thesis, stability criteria are derived under a mathematical model where by the personal best and neighborhood best positions are treated as convergent sequences of random variables. It is also proved that, in order to derive stability criteria, no weaker assumption on the behavior of the personal and neighborhood best positions can be made. The theoretical extension presented caters for a large range of PSO variants. / Thesis (PhD)--University of Pretoria, 2017. / Computer Science / PhD / Unrestricted

Ahierarchical version of the particle swarm optimization (PSO) metaheuristic is introduced in this paper. In the new method called H-PSO, the particles are arranged in a dynamic hierarchy that is used to define a neighborhood structure. Depending on the quality of their so-far best-found solution, the particles move up or down the hierarchy. This gives good particles that move up in the hierarchy a larger influence on the swarm. We introduce a variant of H-PSO, in which the shape of the hierarchy is dynamically adapted during the execution of the algorithm. Another variant is to assign different behavior to the individual particles with respect to their level in the hierarchy. H-PSO and its variants are tested on a commonly used set of optimization functions and are compared to PSO using different standard neighborhood schemes.