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School Logo Cleveland State University Logo Title Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
School Logo Cleveland State University Logo Title Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
ETD Archive
We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to …
Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
ETD Archive
We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to …
Evolutionary Optimization Of Atrial Fibrillation Diagnostic Algorithms, Aref Smiley
Evolutionary Optimization Of Atrial Fibrillation Diagnostic Algorithms, Aref Smiley
ETD Archive
The goal of this research is to introduce an improved method for detecting atrial fibrillation (AF). The foundation of our algorithm is the irregularity of the RR intervals in the electrocardiogram (ECG) signal, and their correlation with AF. Three statistical techniques, including root mean squares of successive differences (RMSSD), turning points ratio (TPR), and Shannon entropy (SE), are used to detect RR interval irregularity. We use the Massachusetts Institution of Technology / Beth Israel Hospital (MIT-BIH) atrial fibrillation databases and their annotations to tune the parameters of the statistical methods by biogeography-based optimization (BBO), which is an evolutionary optimization algorithm. …
Intelligent Controls For A Semi-Active Hydraulic Prosthetic Knee, Timothy Allen Wilmot
Intelligent Controls For A Semi-Active Hydraulic Prosthetic Knee, Timothy Allen Wilmot
ETD Archive
We discuss open loop control development and simulation results for a semi-active above-knee prosthesis. The control signal consists of two hydraulic valve settings. These valves control a rotary actuator that provides torque to the prosthetic knee. We develop open loop control using biogeography-based optimization (BBO), which is a recently developed evolutionary algorithm, and gradient descent. We use gradient descent to show that the control generated by BBO is locally optimal. This research contributes to the field of evolutionary algorithms by demonstrating that BBO is successful at finding optimal solutions to complex, real-world, nonlinear, time varying control problems. The research contributes …