An Improved Iterated Greedy Algorithm for Solving Rescue Robot Path Planning Problem with Limited Survival Time

Effective path planning is crucial for mobile robots to quickly reach rescue destination and complete rescue tasks in a post-disaster scenario.In this study,we investigated the post-disaster rescue path planning problem and modeled this problem as a variant of the travel salesman problem(TSP)with life-strength constraints.To address this problem,we proposed an improved iterated greedy(IIG)algorithm.First,a push-forward insertion heuristic(PFIH)strategy was employed to generate a high-quality initial solution.Second,a greedy-based insertion strategy was designed and used in the destruction-construction stage to increase the algorithm’s exploration ability.Furthermore,three problem-specific swap operators were developed to improve the algorithm’s exploitation ability.Additionally,an improved simulated annealing(SA)strategy was used as an acceptance criterion to effectively prevent the algorithm from falling into local optima.To verify the effectiveness of the proposed algorithm,the Solomon dataset was extended to generate 27 instances for simulation.Finally,the proposed IIG was compared with five state-of-the-art algorithms.The parameter analysiswas conducted using the design of experiments(DOE)Taguchi method,and the effectiveness analysis of each component has been verified one by one.Simulation results indicate that IIGoutperforms the compared algorithms in terms of the number of rescue survivors and convergence speed,proving the effectiveness of the proposed algorithm.

Generative adversarial network-based atmospheric scattering model for image dehazing

This paper presents a trainable Generative Adversarial Network(GAN)-based end-to-end system for image dehazing,which is named the DehazeGAN.DehazeGAN can be used for edge computing-based applications,such as roadside monitoring.It adopts two networks:one is generator(G),and the other is discriminator(D).The G adopts the U-Net architecture,whose layers are particularly designed to incorporate the atmospheric scattering model of image dehazing.By using a reformulated atmospheric scattering model,the weights of the generator network are initialized by the coarse transmission map,and the biases are adaptively adjusted by using the previous round's trained weights.Since the details may be blurry after the fog is removed,the contrast loss is added to enhance the visibility actively.Aside from the typical GAN adversarial loss,the pixel-wise Mean Square Error(MSE)loss,the contrast loss and the dark channel loss are introduced into the generator loss function.Extensive experiments on benchmark images,the results of which are compared with those of several state-of-the-art methods,demonstrate that the proposed DehazeGAN performs better and is more effective.

Neighborhood Modularization‑based Artificial Bee Colony Algorithm for Disassembly Planning with Operation Attributes

The recycling and remanufacturing of end-of-life products are significant for environmental protection and resource conservation.Disassembly is an essential process of remanufacturing end-of-life products.Effective disassembly plans help improve disassembly efficiency and reduce disassembly costs.This paper studies a disassembly planning problem with operation attributes,in which an integrated decision of the disassembly sequence,disassembly directions,and disassembly tools are made.Besides,a mathematical model is formulated with the objective of minimizing the penalty cost caused by the changing of operation attributes.Then,a neighborhood modularization-based artificial bee colony algorithm is developed,which contains a modular optimized design.Finally,two case studies with different scales and complexities are used to verify the performance of the proposed approach,and experimental results show that the proposed algorithm outperforms the two existing methods within an acceptable computational time.