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Home > Optimization of Route Planning for Dynamic Environments Using Swarm Intelligence

Optimization of Route Planning for Dynamic Environments Using Swarm Intelligence

Thesis Info

Access Option

External Link

Author

Zafar, Kashif

Program

PhD

Institute

National University of Computer and Emerging Sciences

City

Islamabad

Province

Islamabad

Country

Pakistan

Thesis Completing Year

2010

Thesis Completion Status

Completed

Subject

Computer Science

Language

English

Link

http://prr.hec.gov.pk/jspui/handle/123456789/1065

Added

2021-02-17 19:49:13

Modified

2024-03-24 20:25:49

ARI ID

1676727804947

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Environments for algorithms can be categorized as static or dynamic. A static environment remains stationary throughout the execution of the algorithm, while in a dynamic environment the environment changes during the execution of the algorithm. The algorithms for planning in static and dynamic environments can be divided into offline and online algorithms. This research implements an online algorithm for an unknown environment and combined exploration and planning in a hybrid architecture. A simulated system of agents based on swarm intelligence is presented for route optimization and exploration. Two versions of the system are implemented and compared for performance- i.e., a simulated ant agent system and a simulated niche based particle swarm optimization. A simulated ant agent system is presented to address the issues involved during route planning in dynamic and unknown environments cluttered with obstacles and objects. A simulated ant agent system (SAAS) is proposed using a modified ant colony optimization algorithm for dealing with online route planning. The SAAS generates and optimizes routes in complex and large environments with constraints. The traditional route optimization techniques focus on good solutions only and do not exploit the solution space completely. The SAAS is shown to be an efficient technique for providing safe, short, and feasible routes under dynamic constraints, and its efficiency has been tested in a mine field simulation with different environment configurations. It is capable of tracking a stationary as well as a non-stationary goal and performs equally well as compared to moving target search algorithm. Route planning for dynamic environment is further extended by using another optimization technique for generation of multiple routes. Simulated niche based particle swarm has been used for dynamic online route planning, optimization of the routes, and it has proved to be an effective technique. It efficiently deals with route planning in dynamic and unknown environments cluttered with obstacles and objects. A simulated niche based particle swarm optimization (SN-PSO) is proposed using a modified particle swarm optimization algorithm for dealing with online route planning. The SN-PSO generates and optimizes multiple routes in complex and large environments with constraints. The SN-PSO is shown to be an efficient technique for providing safe, short,and feasible routes under dynamic constraints. The efficiency of the SN-PSO is tested in a mine field simulation with different environment configuration, and it successfully generates multiple feasible routes. Finally, the swarm based techniques are further compared with an evolutionary algorithm (genetic algorithm) for performance and scalability. Statistical results showed that evolutionary techniques perform well in less cluttered environments and their performance degrades with the increase in environment complexity. For small size maps, the evolutionary technique performs well but its efficiency decreases with an increase in map size.
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۔ شیخو شریف کا تاریخی پس منظر

شیخو شریف کا تاریخی پس منظر

شیخو شریف

                شیخو شریف اوکاڑہ سے فیصل آباد جانے والی سڑک پر بنگلہ گوگیرہ سے 8کلو میٹر شمال مشرق میں اوکاڑہ شہر سے تقریباً 30کلو میٹر کے فاصلہ پر واقع ہے۔ رینالہ خورد سے براستہ ستگھرہ بھی تقریباًاتنا ہی سفر بنتا ہے۔یہ علاقہ کبھی ضلع ساہیوال میں شامل تھا جو ادب کے لحاظ سے مردم خیز سر زمین شمار کی جاتی ہے۔ مجید امجد، منیر نیازی، جعفر شیرازی، گوہر ہوشیار پوری، ظفر اقبال اور حاجی بشیر احمد بشیرجیسے نامور شعرا کے اس شہر کی بنیاد اس وقت رکھی گئی جب 1864میں ریلوے لائن بچھ جانے کے بعد گوگیرہ سے ضلعی ہیڈ کوارٹر منتقل کرتے ہوئے گورنر پنجاب سر رابرٹ منٹگمری کے نام سے نیا ضلع بنانے کا اعلان کیا گیااور لاہور ملتان ریلوے لائن پر واقع ساہیوال کو منٹگمری کا نام دیا گیا۔1915تک مختلف انتظامی تبدیلیوں کے بعد یہ ضلع تحصیل پاکپتن، تحصیل اوکاڑہ، تحصیل دیپالپور اور تحصیل منٹگمری کی شکل میں آچکا تھا۔ قیام پاکستان کے بعد اس ضلع کے انتظامی ڈھانچے میں تو کوئی تبدیلی نہ ہوئی البتہ عوام کے پر زور اور دیرینہ مطالبہ پر 14نومبر 1966کو ضلع منٹگمری کا نام دوبارہ ساہیوال رکھ دیا گیا۔(۱) یکم جولائی 1982کو جب ضلع اوکاڑہ کا قیام عمل میں لایا گیا تو شیخوشریف کا علاقہ ضلع اوکاڑہ میں آگیا۔

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ستگھرہ

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مولانا نور احمد فریدی، قصرِ ادب ملتان والے ایک سن رسیدہ عالم اور جہاں...

سیاسی اضطرابی صورتحال کا جائزہ اور اس کا حل: سیرۃ نبویﷺ کی روشنی میں

Pakistan is an Ideological country, there are only two ideological states in the world. First one was Madinah (Saudi Arabia) and the second one is Pakistan. Political situation in our country is worst. There is no any stability in political situation. From its existence Pakistan is facing different problems and issues. In this research article, will try to draw reasons and will table solutions to get political stability in Pakistan.

Perspectives of Using Acidulated Cow Dung Slurry/Extract to Enhance Availability of Indigenous and Added Micronutrients in Calcareous Soils

Micronutrient are required for the proper growth and development of plants, animals and human beings. Their role is not ignorable in plants, as they play a vital role in many cellular and physiological processes as well as have a key role in important processes in human. Unfortunately, owed to climatic conditions and calcareous nature (>7.5) of Pakistani soils, plants are suffering from micronutrients deficiency. Nutrients deficient crops are becoming source of various major diseases of humans and animals as well as cause severe yield reduction in plants. Various strategies have been adopted to fortify plants/grains with nutrients. Elemental sulfur is commonly practiced for calcareous soils to solubilize the locked nutrients in soil through biological oxidation. This strategy is still accompanied by economic constraints because huge amount of Sº could not be paid by farmers. The present study was planned to prepare an acidulated organic amendment through bio-augmentation of S° added cow dung with sulfur oxidizing bacteria (SOB) to determine its effect on micronutrient bio-availability in calcareous soils. This research included a series of incubation, lab, green house and field studies. Sulfur oxidizing bacteria were screened based on pH reduction, SO4 -2 production, micronutrient (Zn, Fe, Mn) solubilizing abilities. Next step was preparation of acidified amendment through bio-augmentation of S° added cow manure with SOB. Product preparation was optimized at different conditions and minimum pH 2.2 at 15th day was attained at 55-60% moisture, 0.5% rate of molasses, in presence of strain AR-13 at 35ºC temperature. Rate optimization of amendment was conducted via incubation studies in lab through release of micronutrients from soil. Three different rates (5, 10 and 15% dilutions) of acidified extract at the rate of 100 liter/acre were applied at four different time points. Application of product decreased the soil pH from 7.98 to 7.32 and enhanced the micronutrient mobilization and microbial count, but, very next day, nutrients availability was again decreased and same trend was observed after each application. Both 10% and 15% rates of dilution showed same trend in term of pH lowering, nutrient release and microbial population, so, 10% rate was selected for proceeding studies. Then, 10% extract was applied in pot trial on maize @ 100 liter/acre at four different stages; trial consisted of 7 treatments with different rates of micronutrients (25, 50, 75 and 100% of the recommended micronutrients) + acidified extract, alone micronutrients, alone extract and a control. Treatments 100, 75 and 50% of recommended micronutrients + acidified extract showed non-significant results within and significant results over all other treatments in all growth and yield parameters. However, on the basis of economics 50% of the recommended micronutrient + extract found more beneficial and improved yield by 46.27% and grain Zn, Fe and Mn concentration by 42.95, 117.38 and 128.55% over control, respectively. Field trial on maize was also conducted with same treatments to determine the efficacy of extract in field. All growth, physiological, quality, nutrients uptake, yield parameters and nutrients mobilization in soil were determined and maximum results were found where micronutrients were applied with acidified extract. Like pot trial treatment with 100, 75, and 50% of recommended micronutrients + acidified extract showed maximum results and 50% rate was found more beneficial. Grain yield and grain Zn, Fe and Mn concentration for 50% of recommended micronutrients + acidified extract was 13967 kg/ha, 56 mg/kg, 81.50 20 20 mg/kg and 66.67 mg/kg, respectively. Hence, by application of 50% of the recommended micronutrients + acidified extract at four different peak required stages, maximum benefit can be attained and additional 50% fertilizer can be saved. Concluding, this product can improve the grain micronutrient contents and resultantly, humans micronutrient deficiency would be uplifted, proving it to be a novel strategy to improve growth, yield, grains micronutrients concentration and quality of maize. Furthermore, this product is less costly, easily prepared and eco-friendly for farmers as compared to other approaches.