scholarly journals Controller design for underwater robotic vehicle based on improved whale optimization algorithm

2021 ◽  
Vol 10 (2) ◽  
pp. 609-618
Author(s):  
Mustafa Wassef Hasan ◽  
Nizar Hadi Abbas
Keyword(s):  
Motion Control ◽  
Optimization Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Vertical Motion ◽  
Whale Optimization Algorithm ◽  
Linear Quadratic ◽  
Specific Detail ◽  
Fixed Dimension ◽  
Whale Optimization ◽  
The Impact

This paper presents the impact of introducing a two-controller on the linearized autonomous underwater vehicle (AUV) for vertical motion control. These controllers are presented to overcome the sensor noise of the AUV control model that effect on the tolerance and stability of the depth motion control. Linear quadratic Gaussian (LQG) controller is cascaded with AUV model to adapt the tolerance and the stability of the system and compared with FOPID established by the improved whale optimization algorithm (IWOA) to identify which controlling method can make the system more harmonize and tolerable. The developed algorithm is based on improving the original WOA by reshaping a specific detail on WOA to earn a warranty that the new IWOA will have values for the update position lower than the identified lower-bound (LB), and upper-bound (UB). Furthermore, the algorithm is examined by a set of test functions that include (unimodal, multimodal and fixed dimension multimodal functions). The privileges of applying IWOA are reducing the executing time and obtaining the semi-optimal objective function as compared with the original WOA algorithm and other popular swarm-intelligence optimization algorithms.

Whale optimization algorithm based on lateral inhibition for image matching and vision-guided AUV docking

2020 ◽  
pp. 1-12
Author(s):  
Zheping Yan ◽  
Jinzhong Zhang ◽  
Jialing Tang
Keyword(s):  
Lateral Inhibition ◽  
Optimization Algorithm ◽  
Image Matching ◽  
Autonomous Underwater Vehicle ◽  
Optimal Solution ◽  
Search Space ◽  
Whale Optimization Algorithm ◽  
Inhibition Mechanism ◽  
Whale Optimization ◽  
Accuracy And Stability

The accuracy and stability of relative pose estimation of an autonomous underwater vehicle (AUV) and a target depend on whether the characteristics of the underwater image can be accurately and quickly extracted. In this paper, a whale optimization algorithm (WOA) based on lateral inhibition (LI) is proposed to solve the image matching and vision-guided AUV docking problem. The proposed method is named the LI-WOA. The WOA is motivated by the behavior of humpback whales, and it mainly imitates encircling prey, bubble-net attacking and searching for prey to obtain the globally optimal solution in the search space. The WOA not only balances exploration and exploitation but also has a faster convergence speed, higher calculation accuracy and stronger robustness than other approaches. The lateral inhibition mechanism can effectively perform image enhancement and image edge extraction to improve the accuracy and stability of image matching. The LI-WOA combines the optimization efficiency of the WOA and the matching accuracy of the LI mechanism to improve convergence accuracy and the correct matching rate. To verify its effectiveness and feasibility, the WOA is compared with other algorithms by maximizing the similarity between the original image and the template image. The experimental results show that the LI-WOA has a better average value, a higher correct rate, less execution time and stronger robustness than other algorithms. The LI-WOA is an effective and stable method for solving the image matching and vision-guided AUV docking problem.

A Novel Two-Stage Structural Damage Identification Method Based on Superposition of Modal Flexibility Curvature and Whale Optimization Algorithm

2021 ◽  
pp. 2150169
Author(s):  
Minshui Huang ◽  
Xihao Cheng ◽  
Zhigang Zhu ◽  
Jin Luo ◽  
Jianfeng Gu
Keyword(s):  
Optimization Algorithm ◽  
Damage Identification ◽  
Whale Optimization Algorithm ◽  
Two Stage ◽  
Simply Supported ◽  
Damage Location ◽  
Flexibility Matrix ◽  
Modal Flexibility ◽  
Whale Optimization ◽  
The Impact

A novel two-stage method is proposed to properly identify the location and severity of damage in plate structures. In the first stage, a superposition of modal flexibility curvature (SMFC) is adopted to locate the damage accurately, and the identification index of modal flexibility matrix is improved. The low-order modal parameters are used and a new column matrix is formed based on the modal flexibility matrix before and after the structure is damaged. The difference of modal flexibility matrix is obtained, which is used as a damage identification index. Meanwhile, based on SMFC, a method of weakening the “vicinity effect” is proposed to eliminate the impact of the surrounding elements to the damaged elements when damage identification is carried out for the plate-type structure. In the second stage, the objective function based on the flexibility matrix is constructed, and according to the damage location identified in the first stage, the actual damage severity is determined by the enhanced whale optimization algorithm (EWOA). In addition, the effects of 3% and 10% noise on damage location and severity estimation are also studied. By taking a simply supported beam and a four-side simply supported plate as examples, the results show that the method can accurately estimate the damage location and quantify the damage severity without noise. When considering noise, the increase of noise level will not affect the assessment of damage location, but the error of quantifying damage severity will increase. In addition, damage identification of a steel-concrete composite bridge (I-40 Bridge) under four damage cases is carried out, and the results show that the modified method can evaluate the damage location and quantify 5%–92% of the damage severity.

scholarly journals Estimation of Transmission Line Parameters Using Voltage-Current Measurements and Whale Optimization Algorithm

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3239
Author(s):  
Wael S. Hassanein ◽  
Marwa M. Ahmed ◽  
Mohamed I. Mosaad ◽  
A. Abu-Siada
Keyword(s):  
Transmission Line ◽  
Objective Function ◽  
Real Time ◽  
Optimization Algorithm ◽  
Time Estimation ◽  
Distribution Networks ◽  
Measured Data ◽  
Whale Optimization Algorithm ◽  
Whale Optimization ◽  
The Impact

Real-time estimation of transmission line (TL) parameters is essential for proper management of transmission and distribution networks. These parameters can be used to detect incipient faults within the line and hence avoid any potential consequences. While some attempts can be found in the literature to estimate TL parameters, the presented techniques are either complex or impractical. Moreover, none of the presented techniques published in the literature so far can be implemented in real time. This paper presents a cost-effective technique to estimate TL parameters in real time. The proposed technique employs easily accessible voltage and current data measured at both ends of the line. For simplicity, only one quarter of the measured data is sampled and utilized in a developed objective function that is solved using the whale optimization algorithm (WOA) to estimate the TL parameters. The proposed objective function comprises the sum of square errors of the measured data and the corresponding estimated values. The robustness of the proposed technique is tested on a simple two-bus and the IEEE 14-bus systems. The impact of uncertainties in the measured data including magnitude, phase, and communication delay on the performance of the proposed estimation technique is also investigated. Results reveal the effectiveness of the proposed method that can be implemented in real time to detect any incipient variations in the TL parameters due to abnormal or fault events.

scholarly journals Evaluation of the stability enhancement of the conventional sliding mode controller using whale optimization algorithm

2021 ◽  
Vol 21 (2) ◽  
pp. 744
Author(s):  
Aws Mahmood Abdullah ◽  
Ali Mohsin Kaittan ◽  
Mustafa Sabah Taha
Keyword(s):  
Optimization Algorithm ◽  
Sliding Mode ◽  
Optimization Methods ◽  
Whale Optimization Algorithm ◽  
Sliding Mode Controller ◽  
Whale Optimization ◽  
The Stability ◽  
Stability Enhancement ◽  
The Impact ◽  
The Relationship

The proposed work is an attempt to investigate the stability of the nonlinear system by using a whale optimization algorithm as of one of the meta-heuristic optimization methods, and this investigation was conducted on a single inverted pendulum as a study model. The evaluation measures which were used in this article values of gain and sliding surface of the conventional sliding mode controller to illustrate the extent of the system`s stability. Furthermore, control action, the relationship between error and its derivative, desired, and actual position in addition to sliding response graphically showed the feasibility of the proposed solution. The attained results illustrated considerable improvement in the settling time and minimizing the impact of chattering behavior.

Performance Evaluation of Fiber Wireless (FiWi) Access Network using Position Optimization of ONUs

2020 ◽  
Vol 10 ◽  
Author(s):  
Nitin Chouhan ◽  
Uma Rathore Bhatt ◽  
Raksha Upadhyay
Keyword(s):  
Power Consumption ◽  
Optimization Algorithm ◽  
Optical Network ◽  
Access Network ◽  
Whale Optimization Algorithm ◽  
Wireless Access ◽  
Delivery Ratio ◽  
Packet Delivery ◽  
Whale Optimization ◽  
Wireless Access Network

: Fiber Wireless Access Network is the blend of passive optical network and wireless access network. This network provides higher capacity, better flexibility, more stability and improved reliability to the users at lower cost. Network component (such as Optical Network Unit (ONU)) placement is one of the major research issues which affects the network design, performance and cost. Considering all these concerns, we implement customized Whale Optimization Algorithm (WOA) for ONU placement. Initially whale optimization algorithm is applied to get optimized position of ONUs, which is followed by reduction of number of ONUs in the network. Reduction of ONUs is done such that with fewer number of ONUs all routers present in the network can communicate. In order to ensure the performance of the network we compute the network parameters such as Packet Delivery Ratio (PDR), Total Time for Delivering the Packets in the Network (TTDPN) and percentage reduction in power consumption for the proposed algorithm. The performance of the proposed work is compared with existing algorithms (deterministic and centrally placed ONUs with predefined hops) and has been analyzed through extensive simulation. The result shows that the proposed algorithm is superior to the other algorithms in terms of minimum required ONUs and reduced power consumption in the network with almost same packet delivery ratio and total time for delivering the packets in the network. Therefore, present work is suitable for developing cost-effective FiWi network with maintained network performance.

scholarly journals Multi-Objective Whale Optimization Algorithm for Computation Offloading Optimization in Mobile Edge Computing

Sensors ◽  
2021 ◽  
Vol 21 (8) ◽  
pp. 2628
Author(s):  
Mengxing Huang ◽  
Qianhao Zhai ◽  
Yinjie Chen ◽  
Siling Feng ◽  
Feng Shu
Keyword(s):  
Optimization Algorithm ◽  
Edge Computing ◽  
Solution Set ◽  
Whale Optimization Algorithm ◽  
Computation Offloading ◽  
Mobile Edge Computing ◽  
Multi Objective ◽  
Whale Optimization ◽  
Artificial Immune System Algorithm

Computation offloading is one of the most important problems in edge computing. Devices can transmit computation tasks to servers to be executed through computation offloading. However, not all the computation tasks can be offloaded to servers with the limitation of network conditions. Therefore, it is very important to decide quickly how many tasks should be executed on servers and how many should be executed locally. Only computation tasks that are properly offloaded can improve the Quality of Service (QoS). Some existing methods only focus on a single objection, and of the others some have high computational complexity. There still have no method that could balance the targets and complexity for universal application. In this study, a Multi-Objective Whale Optimization Algorithm (MOWOA) based on time and energy consumption is proposed to solve the optimal offloading mechanism of computation offloading in mobile edge computing. It is the first time that MOWOA has been applied in this area. For improving the quality of the solution set, crowding degrees are introduced and all solutions are sorted by crowding degrees. Additionally, an improved MOWOA (MOWOA2) by using the gravity reference point method is proposed to obtain better diversity of the solution set. Compared with some typical approaches, such as the Grid-Based Evolutionary Algorithm (GrEA), Cluster-Gradient-based Artificial Immune System Algorithm (CGbAIS), Non-dominated Sorting Genetic Algorithm III (NSGA-III), etc., the MOWOA2 performs better in terms of the quality of the final solutions.

scholarly journals An image denoising method based on BP neural network optimized by improved whale optimization algorithm

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Chunzhi Wang ◽  
Min Li ◽  
Ruoxi Wang ◽  
Han Yu ◽  
Shuping Wang
Keyword(s):  
Neural Network ◽  
Image Denoising ◽  
Optimization Algorithm ◽  
Bp Neural Network ◽  
Weight Coefficient ◽  
Whale Optimization Algorithm ◽  
Denoising Method ◽  
Training Time ◽  
Whale Optimization ◽  
City Construction

AbstractAs an important part of smart city construction, traffic image denoising has been studied widely. Image denoising technique can enhance the performance of segmentation and recognition model and improve the accuracy of segmentation and recognition results. However, due to the different types of noise and the degree of noise pollution, the traditional image denoising methods generally have some problems, such as blurred edges and details, loss of image information. This paper presents an image denoising method based on BP neural network optimized by improved whale optimization algorithm. Firstly, the nonlinear convergence factor and adaptive weight coefficient are introduced into the algorithm to improve the optimization ability and convergence characteristics of the standard whale optimization algorithm. Then, the improved whale optimization algorithm is used to optimize the initial weight and threshold value of BP neural network to overcome the dependence in the construction process, and shorten the training time of the neural network. Finally, the optimized BP neural network is applied to benchmark image denoising and traffic image denoising. The experimental results show that compared with the traditional denoising methods such as Median filtering, Neighborhood average filtering and Wiener filtering, the proposed method has better performance in peak signal-to-noise ratio.

scholarly journals An Improved Whale Optimization Algorithm for the Traveling Salesman Problem

Symmetry ◽  
2020 ◽  
Vol 13 (1) ◽  
pp. 48
Author(s):  
Jin Zhang ◽  
Li Hong ◽  
Qing Liu
Keyword(s):  
Traveling Salesman Problem ◽  
Optimization Algorithm ◽  
Optimization Problems ◽  
Relevant Literature ◽  
Population Diversity ◽  
Traveling Salesman ◽  
Whale Optimization Algorithm ◽  
Neighborhood Search ◽  
Whale Optimization ◽  
The Traveling Salesman Problem

The whale optimization algorithm is a new type of swarm intelligence bionic optimization algorithm, which has achieved good optimization results in solving continuous optimization problems. However, it has less application in discrete optimization problems. A variable neighborhood discrete whale optimization algorithm for the traveling salesman problem (TSP) is studied in this paper. The discrete code is designed first, and then the adaptive weight, Gaussian disturbance, and variable neighborhood search strategy are introduced, so that the population diversity and the global search ability of the algorithm are improved. The proposed algorithm is tested by 12 classic problems of the Traveling Salesman Problem Library (TSPLIB). Experiment results show that the proposed algorithm has better optimization performance and higher efficiency compared with other popular algorithms and relevant literature.

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