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Articles 2371 - 2400 of 3518
Full-Text Articles in Engineering
An Interval Type-Ii Robust Fuzzy Logic Controller For A Static Compensator In A Multimachine Power System, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Ronald G. Harley
An Interval Type-Ii Robust Fuzzy Logic Controller For A Static Compensator In A Multimachine Power System, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Ronald G. Harley
Electrical and Computer Engineering Faculty Research & Creative Works
This paper presents a novel fuzzy logic based controller for a Static Compensator (STATCOM) connected to a power system. Type-II fuzzy systems are selected that enable the controller to deal with design uncertainties and the noise associated with the measurements in the power system. Interval type-II fuzzy is computationally more effective than the ordinary type-II fuzzy systems and is more suitable for the power network with fast changing dynamics. Using a proportional-integrator approach the proposed controller is capable of dealing with actual rather than deviation signals. The STATCOM is connected to a multimachine power system in order to provide extra …
Bacteria Foraging: A New Tool For Simultaneous Robust Design Of Upfc Controllers, M. Tripathy, S. Mishra, Ganesh K. Venayagamoorthy
Bacteria Foraging: A New Tool For Simultaneous Robust Design Of Upfc Controllers, M. Tripathy, S. Mishra, Ganesh K. Venayagamoorthy
Electrical and Computer Engineering Faculty Research & Creative Works
Robust tuning of lead-lag type controller used for regulating FACTS control signal to improve dynamic stability has been an area of interest in research. This paper presents a new approach based on the foraging behavior of E. coli Bacteria in the human intestine, to optimize simultaneously three constants each of four lead-lag type UPFC controller present in a Single Machine Infinite Bus (SMIB) power system. For the tuning purpose, a multi-objective cost function is formulated that accounts for damping factors and ratios of various system modes for a wide range of operating conditions. Robustness of the proposed tuning method is …
Comparison Of Two Optimal Control Strategies For A Grid Independent Photovoltaic System, Richard L. Welch, Ganesh K. Venayagamoorthy
Comparison Of Two Optimal Control Strategies For A Grid Independent Photovoltaic System, Richard L. Welch, Ganesh K. Venayagamoorthy
Electrical and Computer Engineering Faculty Research & Creative Works
This paper presents two optimal control strategies for a grid independent photovoltaic system consisting of a PV collector array, a storage battery, and loads (critical and non-critical loads). The first strategy is based on Action Dependent Heuristic Dynamic Programming (ADHDP), a model-free adaptive critic design (ACD) technique which optimizes the control performance based on a utility function. ADHDP critic network is used in a PV system simulation study to train an action neural network (optimal neurocontroller) to provide optimal control for varying PV system output energy and loadings. The second optimal control strategy is based on a fuzzy logic controller …
Gene Expression Data For Dlbcl Cancer Survival Prediction With A Combination Of Machine Learning Technologies, Rui Xu, Xindi Cai, Donald C. Wunsch
Gene Expression Data For Dlbcl Cancer Survival Prediction With A Combination Of Machine Learning Technologies, Rui Xu, Xindi Cai, Donald C. Wunsch
Electrical and Computer Engineering Faculty Research & Creative Works
Gene expression profiles have become an important and promising way for cancer prognosis and treatment. In addition to their application in cancer class prediction and discovery, gene expression data can be used for the prediction of patient survival. Here, we use particle swarm optimization (PSO) to address one of the major challenges in gene expression data analysis, the curse of dimensionality, in order to discriminate high risk patients from low risk patients. A discrete binary version of PSO is used for gene selection and dimensionality reduction, and a probabilistic neural network (PNN) is implemented as the classifier. The experimental results …
Hierarchical Control Scheme For Two Static Compensators In The Brazilian 45-Bus Power System, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Yamille Del Valle, Ronald G. Harley
Hierarchical Control Scheme For Two Static Compensators In The Brazilian 45-Bus Power System, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Yamille Del Valle, Ronald G. Harley
Electrical and Computer Engineering Faculty Research & Creative Works
No abstract provided.
Identification Of Svc Dynamics Using Wide Area Signals In A Power System, Ganesh K. Venayagamoorthy, Sandhya R. Jetti
Identification Of Svc Dynamics Using Wide Area Signals In A Power System, Ganesh K. Venayagamoorthy, Sandhya R. Jetti
Electrical and Computer Engineering Faculty Research & Creative Works
This paper presents the design of a wide area monitor (WAM) using remote area signals, such as speed deviations of generators in a power network, for identifying online the dynamics of a static var compensator (SVC). The design of the WAM is studied on the 12 bus FACTS benchmark system recently introduced. A predict-correct method is used to enhance the performance of the WAM during online operation. Simulation results are presented to show that WAM can correctly identify the dynamics of SVC in a power system for small and large disturbances. Such WAMs can be applied in the design of …
Laser Optical In-Circuit Measurement System For Immunity Applications, Chong Ding, David Pommerenke
Laser Optical In-Circuit Measurement System For Immunity Applications, Chong Ding, David Pommerenke
Electrical and Computer Engineering Faculty Research & Creative Works
During immunity testing (ESD, EFT) of a digital circuit, the waveforms of critical signal nets need to be measured for analyzing the failure mechanism. However, it is difficult to measure the induced voltage in the circuit under test due to the unwanted coupling by the non-ideal shielding of the probe cable, especially, if large common mode currents are present. Fiber optical connection avoids this problem. Semiconductor lasers have frequently been used for converting the voltage into an optical signal. The paper shows novel implementations of powering the laser, leading to a small, low cost optical probe.
Multiple Statcom Allocation And Sizing Using Particle Swarm Optimization, Ganesh K. Venayagamoorthy, J. C. Hernandez, Yamille Del Valle, Ronald G. Harley
Multiple Statcom Allocation And Sizing Using Particle Swarm Optimization, Ganesh K. Venayagamoorthy, J. C. Hernandez, Yamille Del Valle, Ronald G. Harley
Electrical and Computer Engineering Faculty Research & Creative Works
No abstract provided.
Particle Swarm Optimization Based Defensive Islanding Of Large Scale Power System, Wenxin Liu, Ganesh K. Venayagamoorthy, David A. Cartes
Particle Swarm Optimization Based Defensive Islanding Of Large Scale Power System, Wenxin Liu, Ganesh K. Venayagamoorthy, David A. Cartes
Electrical and Computer Engineering Faculty Research & Creative Works
Defensive islanding is an efficient way to avoid catastrophic failures and wide area blackouts. Power system splitting especially for large scale power systems is a combinatorial explosion problem. Thus, it is very difficult to find an optimal solution (if one exists) for large scale power system in real time. This paper proposes to utilize the computational efficiency property of Binary Particle Swarm Optimization (BPSO) to find some efficient splitting solutions in limited timeframe. The solutions are optimized based on a cost function considering the balance between real power generation and consumption, the relative importance of customers, the capacities of distribution …
Real-Time Implementation Of An Optimal Transient Neurocontroller For A Gcsc, Swakshar Ray, Ganesh K. Venayagamoorthy
Real-Time Implementation Of An Optimal Transient Neurocontroller For A Gcsc, Swakshar Ray, Ganesh K. Venayagamoorthy
Electrical and Computer Engineering Faculty Research & Creative Works
This paper presents the design of an optimal Auxiliary Transient Neurocontroller (ATNC) for the Gate Controlled Series Capacitor (GCSC) in a multi-machine power system. GCSC is a recent advancement in the family of series FACTS devices. While GCSC regulates power flow through a transmission line, an auxiliary control signal can provide damping to the power oscillations during disturbances. The ATNC has been designed using heuristic dynamic programming to develop an optimal neurocontroller with fixed weights. The ATNC is implemented in real-time using the TMS3206701 DSP and the Real-Time Digital Simulator (RTDS). Results are presented to show the effectiveness of the …
Robustness And Distance Discrimination Of Adaptive Near Field Beamformers, Y. Rosa Zheng, Peng Xie, Steven L. Grant
Robustness And Distance Discrimination Of Adaptive Near Field Beamformers, Y. Rosa Zheng, Peng Xie, Steven L. Grant
Electrical and Computer Engineering Faculty Research & Creative Works
A robust adaptive beamformer is proposed using the near field regionally constrained adaptive approach that designs a set of linear constraints by filtering on a low rank subspace of the near field signal over a spatial region and a wide frequency band. This method can accurately control the beam-former response over the designed spatial-temporal region using a small number of linear constraint vectors and improve the robustness against target location errors. Meanwhile, this method enhances the capability of the near field beamformer in distance discrimination without additional constraints so that interference impinging at the same direction as the desired signal …
Modeling Radiated Emissions From Cables Attached To Printed Circuit Boards Driven By Power Bus Noise, K. Morishita, N. Kobayashi, T. Harada, H. Ke, Todd H. Hubing
Modeling Radiated Emissions From Cables Attached To Printed Circuit Boards Driven By Power Bus Noise, K. Morishita, N. Kobayashi, T. Harada, H. Ke, Todd H. Hubing
Electrical and Computer Engineering Faculty Research & Creative Works
This paper describes a two-step technique for modeling the radiated electromagnetic emissions from a printed circuit board with attached cables when the source of the emissions is noise between the board's power and ground planes. the first step calculates the electric fields at the edges of the power-ground plane pair. the second step replaces the power plane with equivalent sources embedded within the ground plane structure. Examples are provided that demonstrate the accuracy of this approach. © 2006 IEEE.
The Importance Of Using Time Domain To Analyze The Effect Of Decoupling Capacitor Performance On Printed Circuit Boards, Bruce Archambeault, Jay Diepenbrock, Samuel Connor, Liang Xue, Giuseppe Selli
The Importance Of Using Time Domain To Analyze The Effect Of Decoupling Capacitor Performance On Printed Circuit Boards, Bruce Archambeault, Jay Diepenbrock, Samuel Connor, Liang Xue, Giuseppe Selli
Electrical and Computer Engineering Faculty Research & Creative Works
This paper demonstrates the importance of using the time domain to properly analyze decoupling capacitor performance on printed circuit boards as well as ASIC packages, etc. Frequency domain analysis is too limited unless the phase information is used along with the magnitude information. the time domain analysis combines the magnitude and phase information to allow a more accurate analysis of decoupling capacitor distance, decoupling capacitor value, and the effects of connection inductance. the impact of connection inductance is extremely important, and it needs to be included in any decoupling capacitor analysis, since this inductance can easily overshadow low plane impedance …
Circuit Models For Power Bus Structures On Printed Circuit Boards Using A Hybrid Fem-Spice Method, Todd H. Hubing, Chunlei Guo
Circuit Models For Power Bus Structures On Printed Circuit Boards Using A Hybrid Fem-Spice Method, Todd H. Hubing, Chunlei Guo
Electrical and Computer Engineering Faculty Research & Creative Works
Power bus structures consisting of two parallel conducting planes are widely used on high-speed printed circuit boards. In this paper, a full-wave finite-element method (FEM) method is used to analyze power bus structures, and the resulting matrix equations are converted to equivalent circuits that can be analyzed using SPICE programs. Using this method of combining FEM and SPICE, power bus structures of arbitrary shape can be modeled efficiently both in the time-domain and frequency-domain, along with the circuit components connected to the bus. Dielectric loss and losses due to the finite resistance of the power planes can also be modeled. …
Decentralized Power Control With Implementation For Rfid Networks, Kainan Cha, Anil Ramachandran, David Pommerenke, Jagannathan Sarangapani
Decentralized Power Control With Implementation For Rfid Networks, Kainan Cha, Anil Ramachandran, David Pommerenke, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
In radio frequency identification (RFID) systems, the detection range and read rates will suffer from interference among high power reading devices. This problem grows severely and degrades system performance in dense RFID networks. In this paper, we investigate a suite of feasible power control schemes to ensure overall coverage area of the system while maintaining a desired read rate. The power control scheme and MAC protocol dynamically adjusts the RFID reader power output in response to the interference level seen locally during tag reading for an acceptable signal-to-noise ratio (SNR). We present novel distributed adaptive power control (DAPC) and probabilistic …
Design And Implementation Of A Storage Management Method For Content Distribution, Chang-Soo Kim, Yu-Hyeon Bak, Sang-Min Woo, Won-Jae Lee, Nunm-Ok Gee, Hag-Young Kim
Design And Implementation Of A Storage Management Method For Content Distribution, Chang-Soo Kim, Yu-Hyeon Bak, Sang-Min Woo, Won-Jae Lee, Nunm-Ok Gee, Hag-Young Kim
Electrical and Computer Engineering Faculty Research & Creative Works
The SMART system is a special purpose server developed by ETRI and designed for efficient streaming services over high speed networks. The SMART server has one or more special purpose NS (Network-Storage) card. The NS card has several disks that store multimedia contents. However all of the multimedia contents to be serviced cannot be stored at the server. In this paper, we will describe the storage management mechanism in design and implementation aspects. With this storage management mechanism, the SMART server can provide effectiveness in managing storage and distributing some contents from a source station to streaming service servers.
Distributed Power Control For Cellular Networks In The Presence Of Channel Uncertainties, Maciej Jan Zawodniok, Q. Shang, Jagannathan Sarangapani
Distributed Power Control For Cellular Networks In The Presence Of Channel Uncertainties, Maciej Jan Zawodniok, Q. Shang, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, a novel distributed power control (DPC) scheme for cellular network in the presence of radio channel uncertainties such as path loss, shadowing, and Rayleigh fading is presented. Since these uncertainties can attenuate the received signal strength and can cause variations in the received Signal-to-Interference ratio (SIR), a new DPC scheme, which can estimate the slowly varying channel uncertainty, is proposed so that a target SIR at the receiver can be maintained. Further, the standard assumption of a constant interference during a link's power update used in other works in the literature is relaxed. A CDMA-based cellular network …
Dynamic Simulation Of A Mems Cantilever Switch, James W. Fonda, Steve Eugene Watkins
Dynamic Simulation Of A Mems Cantilever Switch, James W. Fonda, Steve Eugene Watkins
Electrical and Computer Engineering Faculty Research & Creative Works
The dynamic behavior of a micro-electro-mechanicalsystem (MEMS) cantilever switch is investigated. Overactuation of the switch can degrade bounce characteristics and reduce the lifetime of the contacts. This work concerns the development of a control system that limits the number of switch bounces and reduces the impact force on the beam tip. A limited mass-spring analysis of the tip-position is given and an associated control approach is applied. Input limiting, state-feedback, and adaptive control methods are compared. All results demonstrate improved switch bounce characteristics for the simplified beam model with the adaptive showing the best performance improvement. A comprehensive finite element …
Mobile Speed Classification For Cellular Systems Over Frequency Selective Rician Fading Channels, Y. Rosa Zheng, Chengshan Xiao
Mobile Speed Classification For Cellular Systems Over Frequency Selective Rician Fading Channels, Y. Rosa Zheng, Chengshan Xiao
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, a new algorithm is proposed for estimating mobile speed of cellular systems over frequency selective Rician fading channels. Theoretical analysis is first derived and practical algorithm is proposed based on the analytical results. The algorithm employs a modified auto-covariance of received signal power to estimate the speed of mobiles. The algorithm is based on the received signals which contain unknown transmitted data, unknown frequency selective multipaths including line-of-sight(LOS) component, and random receiver noise. The algorithm works very well for frequency selective Rician fading channels with large ranges of Rice factor and angle of arrival of the LOS …
Adaptive Critic Designs Based Coupled Neurocontrollers For A Static Compensator, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Ronald G. Harley
Adaptive Critic Designs Based Coupled Neurocontrollers For A Static Compensator, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Ronald G. Harley
Electrical and Computer Engineering Faculty Research & Creative Works
A novel nonlinear optimal neurocontroller for a static compensator (STATCOM) connected to a power system, using artificial neural networks, is presented in this paper. The heuristic dynamic programming (HDP) method, a member of the adaptive critic designs (ACD) family, is used for the design of the STATCOM neurocontroller. The proposed controller is a nonlinear optimal controller that provides coupled control for the line voltage and the dc link voltage regulation loops of the STATCOM. An action dependent approach is used, in which the controller is independent of a model of the network. Moreover, a proportional-integrator approach allows the neurocontroller to …
Real-Time Implementation Of A Statcom On A Wind Farm Equipped With Doubly Fed Induction Generators, Wei Qiao, Ganesh K. Venayagamoorthy, Ronald G. Harley
Real-Time Implementation Of A Statcom On A Wind Farm Equipped With Doubly Fed Induction Generators, Wei Qiao, Ganesh K. Venayagamoorthy, Ronald G. Harley
Electrical and Computer Engineering Faculty Research & Creative Works
Voltage stability is a key issue to achieve the uninterrupted operation of wind farms equipped with doubly fed induction generators (DFIGs) during grid faults. A Static Synchronous Compensator (STATCOM) is applied to a power network which includes a DFIG driven by a wind turbine, for steady state voltage regulation and transient voltage stability support. The control schemes of the DFIG rotor-side converter, grid-side converter and the STATCOM are suitably designed and coordinated. The system is implemented in real-time on a Real-Time Digital Simulator (RTDS®). Results show that the STATCOM improves the transient voltage stability and therefore helps the wind turbine …
Speeding Up Vlsi Layout Verification Using Fuzzy Attributed Graphs Approach, Nian Zhang, Donald C. Wunsch
Speeding Up Vlsi Layout Verification Using Fuzzy Attributed Graphs Approach, Nian Zhang, Donald C. Wunsch
Electrical and Computer Engineering Faculty Research & Creative Works
Technical and economic factors have caused the field of physical design automation to receive increasing attention and commercialization. The steady down-scaling of complementary metal oxide semiconductor (CMOS) device dimensions has been the main stimulus to the growth of microelectronics and computer-aided very large scale integration (VLSI) design. The more an Integrated Circuit (IC) is scaled, the higher its packing density becomes. For example, in 2006 Intel's 65-nm process technology for high performance microprocessor has a reduced gate length of 35 nanometers. In their 70-Mbit SRAM chip, there are up to 0.5 billion transistors in a 110 mm2 chip size with …
Adaptive Critic Design Based Neuro-Fuzzy Controller For A Static Compensator In A Multimachine Power System, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Ronald G. Harley
Adaptive Critic Design Based Neuro-Fuzzy Controller For A Static Compensator In A Multimachine Power System, Salman Mohagheghi, Ganesh K. Venayagamoorthy, Ronald G. Harley
Electrical and Computer Engineering Faculty Research & Creative Works
This paper presents a novel nonlinear optimal controller for a static compensator (STATCOM) connected to a power system, using artificial neural networks and fuzzy logic. The action dependent heuristic dynamic programming, a member of the adaptive Critic designs family, is used for the design of the STATCOM neuro-fuzzy controller. This neuro-fuzzy controller provides optimal control based on reinforcement learning and approximate dynamic programming. Using a proportional-integrator approach the proposed controller is capable of dealing with actual rather than deviation signals. The STATCOM is connected to a multimachine power system. Two multimachine systems are considered in this study: a 10-bus system …
Adaptive And Probabilistic Power Control Algorithms For Dense Rfid Reader Network, Kainan Cha, Anil Ramachandran, Jagannathan Sarangapani
Adaptive And Probabilistic Power Control Algorithms For Dense Rfid Reader Network, Kainan Cha, Anil Ramachandran, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
In radio frequency identification (RFID) systems, the detection range and read rates may suffer from interferences between high power devices such as readers. In dense networks, this problem grows severely and degrades system performance. In this paper, we investigate feasible power control schemes to ensure overall coverage area of the system while maintaining a desired data rate. The power control should dynamically adjust the output power of a RFID reader by adapting to the noise level seen during tag reading and acceptable signal-to-noise ratio (SNR). We present a novel distributed adaptive power control (DAPC) and probabilistic power control (PPC) as …
Neuro Control Of Nonlinear Discrete Time Systems With Deadzone And Input Constraints, Pingan He, Wenzhi Gao, Jagannathan Sarangapani
Neuro Control Of Nonlinear Discrete Time Systems With Deadzone And Input Constraints, Pingan He, Wenzhi Gao, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
A neural network (NN) controller in discrete time is designed to deliver a desired tracking performance for a class of uncertain nonlinear systems with unknown deadzones and magnitude constraints on the input. The NN controller consists of two NNs: the first NN for compensating the unknown deadzones; and the second NN for compensating the uncertain nonlinear system dynamics. The magnitude constraints on the input are modeled as saturation nonlinearities and they are dealt with in the Lyapunov-based controller design. The uniformly ultimate boundedness (UUB) of the closed-loop tracking errors and the neural network weights estimation errors is demonstrated via Lyapunov …
On Discrete-Time Modeling Of Time-Varying Wssus Fading Channels, Christian Sgraja, Chengshan Xiao
On Discrete-Time Modeling Of Time-Varying Wssus Fading Channels, Christian Sgraja, Chengshan Xiao
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, we consider the serial concatenation of linear time-varying (LTV) systems and its impact on the discrete-time modeling of wide-sense stationary uncorrelated scattering (WSSUS) fading channels. By deriving an expression for the composite impulse response of the overall concatenated system, we find that unlike the time-invariant case, the concatenation of LTV systems is not commutative, i. e., the order of arrangement affects the overall impulse response. This has significant impact when a digital transmission over a time-varying fading channel, which is an LTV channel, is represented by an equivalent discrete-time model that incorporates both transmitter and receiver filters. …
Operational Characteristics Of Wind Plants And Windfarms, Badrul H. Chowdhury
Operational Characteristics Of Wind Plants And Windfarms, Badrul H. Chowdhury
Electrical and Computer Engineering Faculty Research & Creative Works
A wide range of power generation technologies exist today, whose characteristics can vary significantly. Additionally, a diverse range of wind turbines are available in the market. With experienced wind developers taking the charge in installing multi-megawatt-size windfarms at a rapid pace, the role of wind power in electricity generation is bound to grow in significance in the coming years. This panel takes a critical look at the operating characteristics of existing and planned wind power generation systems and their relationship to interconnection requirements and performance standards.
Recurrent Neural Network Based Predictions Of Elephant Migration In A South African Game Reserve, Parviz Palangpour, Ganesh K. Venayagamoorthy, Kevin Duffy
Recurrent Neural Network Based Predictions Of Elephant Migration In A South African Game Reserve, Parviz Palangpour, Ganesh K. Venayagamoorthy, Kevin Duffy
Electrical and Computer Engineering Faculty Research & Creative Works
A large portion of South Africa''s elephant population can be found on small wildlife reserves. When confined to enclosed reserves the elephant densities are much higher than observed in the wild. The large nutritional demands and destructive foraging behavior of elephants threaten rare species of vegetation. If conservation management is to protect threatened species of vegetation, knowing how long elephants will stay in one area of the reserve as well as which area they will move to next is essential. The goal of this study is to train a recurrent neural network (RNN) to continuously predict an elephant herd''s next …
Effects Of Facts Devices On A Power System Which Includes A Large Wind Farm, Wei Qiao, Ganesh K. Venayagamoorthy, Ronald G. Harley
Effects Of Facts Devices On A Power System Which Includes A Large Wind Farm, Wei Qiao, Ganesh K. Venayagamoorthy, Ronald G. Harley
Electrical and Computer Engineering Faculty Research & Creative Works
No abstract provided.
Empirical Study Of An Unconstrained Modified Particle Swarm Optimization, Ganesh K. Venayagamoorthy, Phillip W. Moore
Empirical Study Of An Unconstrained Modified Particle Swarm Optimization, Ganesh K. Venayagamoorthy, Phillip W. Moore
Electrical and Computer Engineering Faculty Research & Creative Works
In this paper, an unconstrained modified particle swarm optimization (UMPSO) algorithm is introduced and studied empirically. Four well known benchmark functions, with asymmetric initial position values, are used as testing functions for the UMPSO algorithm. The UMPSO is a variation of the canonical PSO in which the velocity and position is unconstrained, an additional strategic component is added, and the social component term has been modified. The strategy component is used instead of varying parameters or mutation to enhance diversity in the swarm during the search. The UMPSO algorithm is then compared to results obtained from the constrained canonical PSO …