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The purpose of this paper is to improve the performance of the genetic algorithm-based compliant robot path planning (GACRPP) in complex dynamic environment by proposing an improved bidirectional rapidly exploring random tree (Bi-RRT)-based population initialization method.

To achieve GACRPP in complex dynamic environment with high performance, an improved Bi-RRT-based population initialization method is proposed. First, the grid model is adopted to preprocess the working space of mobile robot. Second, an improved Bi-RRT is proposed to create multi-cluster connections between the starting point and the goal point. Third, the backtracking method is used to generate the initial population based on the multi-cluster connections generated by the improved Bi-RRT. Subsequently, some comparative experiments are implemented where the performances of the improved Bi-RRT-based population initialization method are compared with other population initialization methods, and the comparison results of the improved genetic algorithm (IGA) combining with the different population initialization methods are shown. Finally, the optimal path is further smoothed with the help of the technique of quadratic B-spline curves.

It is shown in the experiment results that the improved Bi-RRT-based population initialization method is capable of deriving a more diversified initial population with less execution time and the IGA combining with the proposed population initialization method outperforms the one with other population initialization methods in terms of the length of optimal path and the execution time.

In this paper, the Bi-RRT is introduced as a population initialization method into the GACRPP problem. An improved Bi-RRT is proposed for the purpose of increasing the diversity of initial population. To characterize the diversity of initial population, a new notion of breadth is defined in terms of Hausdorff distance between different paths.

The K-means (KM) clustering algorithm is extremely responsive to the selection of initial centroids since the initial centroid of clusters determines computational effectiveness, efficiency and local optima issues. Numerous initialization strategies are to overcome these problems through the random and deterministic selection of initial centroids. The random initialization strategy suffers from local optimization issues with the worst clustering performance, while the deterministic initialization strategy achieves high computational cost. Big data clustering aims to reduce computation costs and improve cluster efficiency. The objective of this study is to achieve a better initial centroid for big data clustering on business management data without using random and deterministic initialization that avoids local optima and improves clustering efficiency with effectiveness in terms of cluster quality, computation cost, data comparisons and iterations on a single machine.

This study presents the Normal Distribution Probability Density (NDPD) algorithm for big data clustering on a single machine to solve business management-related clustering issues. The NDPDKM algorithm resolves the KM clustering problem by probability density of each data point. The NDPDKM algorithm first identifies the most probable density data points by using the mean and standard deviation of the datasets through normal probability density. Thereafter, the NDPDKM determines K initial centroid by using sorting and linear systematic sampling heuristics.

The performance of the proposed algorithm is compared with KM, KM++, Var-Part, Murat-KM, Mean-KM and Sort-KM algorithms through Davies Bouldin score, Silhouette coefficient, SD Validity, S_Dbw Validity, Number of Iterations and CPU time validation indices on eight real business datasets. The experimental evaluation demonstrates that the NDPDKM algorithm reduces iterations, local optima, computing costs, and improves cluster performance, effectiveness, efficiency with stable convergence as compared to other algorithms. The NDPDKM algorithm minimizes the average computing time up to 34.83%, 90.28%, 71.83%, 92.67%, 69.53% and 76.03%, and reduces the average iterations up to 40.32%, 44.06%, 32.02%, 62.78%, 19.07% and 36.74% with reference to KM, KM++, Var-Part, Murat-KM, Mean-KM and Sort-KM algorithms.

The KM algorithm is the most widely used partitional clustering approach in data mining techniques that extract hidden knowledge, patterns and trends for decision-making strategies in business data. Business analytics is one of the applications of big data clustering where KM clustering is useful for the various subcategories of business analytics such as customer segmentation analysis, employee salary and performance analysis, document searching, delivery optimization, discount and offer analysis, chaplain management, manufacturing analysis, productivity analysis, specialized employee and investor searching and other decision-making strategies in business.

This paper aims to present a pipeline to progressively deal with the online external parameter calibration and estimator initialization of the Stereo-inertial measurement unit (IMU) system, which does not require any prior information and is suitable for system initialization in a variety of environments.

Before calibration and initialization, a modified stereo tracking method is adopted to obtain a motion pose, which provides prerequisites for the next three steps. Firstly, the authors align the pose obtained with the IMU measurements and linearly calculate the rough external parameters and gravity vector to provide initial values for the next optimization. Secondly, the authors fix the pose obtained by the vision and restore the external and inertial parameters of the system by optimizing the pre-integration of the IMU. Thirdly, the result of the previous step is used to perform visual-inertial joint optimization to further refine the external and inertial parameters.

The results of public data set experiments and actual experiments show that this method has better accuracy and robustness compared with the state of-the-art.

This method improves the accuracy of external parameters calibration and initialization and prevents the system from falling into a local minimum. Different from the traditional method of solving inertial navigation parameters separately, in this paper, all inertial navigation parameters are solved at one time, and the results of the previous step are used as the seed for the next optimization, and gradually solve the external inertial navigation parameters from coarse to fine, which avoids falling into a local minimum, reduces the number of iterations during optimization and improves the efficiency of the system.

The purpose of this paper is to propose a framework for intelligent analysis of Twitter data. The purpose of the framework is to allow users to explore a collection of tweets by extracting topics with semantic relevance. In this way, it is possible to detect groups of tweets related to new technologies, events and other topics that are automatically discovered.

The framework is based on a three-stage process. The first stage is devoted to dataset creation by transforming a collection of tweets in a dataset according to the vector space model. The second stage, which is the core of the framework, is centered on the use of non-negative matrix factorizations (NMF) for extracting human-interpretable topics from tweets that are eventually clustered. The number of topics can be user-defined or can be discovered automatically by applying subtractive clustering as a preliminary step before factorization. Cluster analysis and word-cloud visualization are used in the last stage to enable intelligent data analysis.

The authors applied the framework to a case study of three collections of Italian tweets both with manual and automatic selection of the number of topics. Given the high sparsity of Twitter data, the authors also investigated the influence of different initializations mechanisms for NMF on the factorization results. Numerical comparisons confirm that NMF could be used for clustering as it is comparable to classical clustering techniques such as spherical k-means. Visual inspection of the word-clouds allowed a qualitative assessment of the results that confirmed the expected outcomes.

The proposed framework enables a collaborative approach between users and computers for an intelligent analysis of Twitter data. Users are faced with interpretable descriptions of tweet clusters, which can be interactively refined with few adjustable parameters. The resulting clusters can be used for intelligent selection of tweets, as well as for further analytics concerning the impact of products, events, etc. in the social network.

The purpose of this paper is to examine and compare the entire impact of various execution skills of oppositional biogeography-based optimization using the current optimum (COOBBO) algorithm.

The improvement measures tested in this paper include different initialization approaches, crossover approaches, local optimization approaches, and greedy approaches. Eight well-known traveling salesman problems (TSP) are employed for performance verification. Four comparison criteria are recoded and compared to analyze the contribution of each modified method.

Experiment results illustrate that the combination model of “25 nearest-neighbor algorithm initialization+inver-over crossover+2-opt+all greedy” may be the best choice of all when considering both the overall algorithm performance and computation overhead.

When solving TSP with varying scales, these modified methods can enhance the performance and efficiency of COOBBO algorithm in different degrees. And an appropriate combination model may make the fullest possible contribution.

The purpose of this study is to solve NP-Hard drone routing problem for the last-mile distribution. This is suitable for the multi-drones parcel delivery for the various items from a warehouse to many locations.

This study conducts as a mission assignment of the single location per flight with the constraint satisfactions such as various payloads in weight, drone speeds, flight times and coverage distances. A genetic algorithm is modified as the concurrent heuristics approach (GCH), which has the knapsack problem dealing initialization, gene elitism (crossover) and gene replacement (mutation). Those proposed operators can reduce the execution time consuming and enhance the routing assignment of multiple drones. The evaluation value of the routing assignment can be calculated from the chromosome/individual representation by applying the proposed concurrent fitness.

This study optimizes the total traveling time to accomplish the distribution. GCH is flexible and can provide a result according to the first-come-first-served, demanded weight or distance priority.

GCH is an alternative option, which differs from conventional vehicle routing researches. Such researches (traveling time optimization) attempt to minimize the total traveling time, distance or the number of vehicles by assuming all vehicles have the same traveling speed; therefore, a specific vehicle assignment to a location is neglected. Moreover, the main drawback is those concepts can lead the repeated selection of best quality vehicles concerning the speed without considering the vehicle fleet size and coverage distance while this study defines the various speeds for the vehicles. Unlike those, the concurrent concept ensures a faster delivery accomplishment by sharing the work load with all participant vehicles concerning to their different capabilities. If the concurrent assignment is applied to the drone delivery effectively, the entire delivery can be accomplished relatively faster than the traveling time optimization.

The exponential growth in computational capabilities and the increasing reliability of current simulation tools have fostered the use of computational fluid dynamics (CFD) in the design of pioneering aircraft engine architectures, such as the counter rotating open rotor (CROR) engine. Today, this design process is led by tight performance and noise constraints from a very early stage, thus requiring deep investigations of the aerodynamic and acoustic behaviour of the fluid flow. The purpose of this study is to track the trajectory of tip vortices, which is of critical importance to understand and prevent potential vortex–blade interactions with subsequent rows, as this condition strongly influences the aerodynamic and structural performance and acoustic footprints of the engine.

In this paper, a flow feature detection methodology is applied to a particular CROR test case with the goal of visualizing and tracking the development of these coherent structures from the tip of front rotating blades. The suitability and performance of four typical region-based methodologies and one line-based (LB) criteria are firstly evaluated. Then, two novel seeding methodologies are presented as an attempt to improve the performance of the LB algorithm previously investigated.

It was demonstrated that the new seeding algorithms increase the probability of the selected seeds to grow into a tip vortex line and reduce the user’s dependence upon the selection of candidate seeds, providing faster and more accurate answers during the design-to-noise iterative process.

Apart from the new vortex detection initialization methodologies, the paper also attempts to assist the user in the endeavour of extracting rotating structures from their own CFD simulations.

Hill equations have definite limitation in the design of multiple spacecraft formation flying in eccentric orbits. To solve the problem, the design method of spacecraft formation flying in a circular reference orbit based on Hill equation can be generalized and applied to spacecraft formation flying in eccentric orbits.

In this paper, T‐H equation is expressed as the explicit function form of reference orbit true anomaly, and the state transition matrix of relative motion of spacecraft formation flying in eccentric orbits is derived. According to the requirement that relative dynamics equation of spacecraft formation flying in eccentric orbits has periodicity solution, the paper theoretically gives the initial condition needed by the long‐term close‐distance spacecraft formation flying including the relationship between relative position and relative velocity. Without perturbation the spacecraft formation, which satisfies the initial periodicity restriction, can keep long‐term close‐distance flying without the need of active control.

Based on the theoretical analysis, some numerical simulations are carried out. The results demonstrate that each spacecraft in eccentric orbits can run in a periodic motion surrounding the center spacecraft under some conditions. And spacecraft formation reconfiguration is implementing according to missions.

Combined with the periodicity restriction primary condition a new method about spacecraft formation reconfiguration is put forward. The method given by this paper can be applied to eccentric orbits of arbitrary eccentricity, and provides theoretical reference for orbit design of spacecraft formation flying in eccentric orbits.

Moving interface problems exist commonly in nature and industry, and the main difficulty is to represent the interface. The purpose of this paper is to capture the accurate interface, a novel three-dimensional one-layer particle level set (OPLS) method is presented by introducing Lagrangian particles to reconstruct the seriously distorted level set function.

First, the interface is captured by the level set method. Then, the interface is corrected with only one-layer particles advected with the flow to ensure that the level set function value of the particle is equal to 0. When interfaces are merged, all particles in merged regions are deleted, while the added particles near the generated interface are used to determine the interface as the interface is separated.

The OPLS method is validated with well-known benchmark examples, such as the long-term advection of a sphere, the rotation of a three-dimensional slotted disk and sphere, single vortex in a box, sphere merging and separation, deformation of a sphere. The simulation results indicate that the proposed method is found to be highly reliable and accurate.

This method exhibits excellent conservation of the area bounded by the interface. The extraordinary performance is also shown in dealing with complex interface topological changes.