Floyd-Warshall Research Articles

Grid-Based coverage path planning with NFZ avoidance for UAV using parallel self-adaptive ant colony optimization algorithm in cloud IoT

In recent years, with the development of Unmanned Aerial Vehicle (UAV) and Cloud Internet-of-Things (Cloud IoT) technology, data collection using UAVs has become a new technology hotspot for many Cloud IoT applications. Due to constraints such as the limited power life, weak computing power of UAV and no-fly zones restrictions in the environment, it is necessary to use cloud server with powerful computing power in the Internet of Things to plan the path for UAV. This paper proposes a coverage path planning algorithm called Parallel Self-Adaptive Ant Colony Optimization Algorithm (PSAACO). In the proposed algorithm, we apply grid technique to map the area, adopt inversion and insertion operators to modify paths, use self-adaptive parameter setting to tune the pattern, and employ parallel computing to improve performance. This work also addresses an additional challenge of using the dynamic Floyd algorithm to avoid no-fly zones. The proposal is extensively evaluated. Some experiments show that the performance of the PSAACO algorithm is significantly improved by using parallel computing and self-adaptive parameter configuration. Especially, the algorithm has greater advantages when the areas are large or the no-fly zones are complex. Other experiments, in comparison with other algorithms and existing works, show that the path planned by PSAACO has the least energy consumption and the shortest completion time.

Trajectory Planning of Dual-Robot Cooperative Assembly

Efficiency can be improved through the cooperation of a dual-robot during assembly. However, how to effectively plan a simple and smooth path in a dynamic environment is a prominent problem in the process of dual-robot cooperative assembly. In this paper, a method based on RRT-Connect algorithm for trajectory planning and post-processing for trajectory optimization is proposed. This method takes full advantage of the excellent solution ability of RRT-Connect algorithm in the complex environment so as to obtain the initial path successfully. Through post-processing, the problem of RRT-Connect non-convergence to target is optimized. We use two 6-DOF industrial robots to build an experimental platform and design a dual-robot cooperative assembly system. According to the given task, the system can generate the original collision-free path based on RRT-Connect algorithm. Then the original path is simplified by Floyd algorithm and smoothed by multi-segment Bezier curve. Finally, the time parameter is sequenced for all the path points based on the iterative method, and the effective trajectory is obtained. The experimental results show that the algorithm proposed in this paper can effectively plan and optimize the trajectory of dual-robot. Compared to other methods, this approach has a higher success rate and less planning time.

Determining The Shortest Path In Car Parking Layout In FMIPA UNPAD Using Floyd-Warshall Algorithm

Vehicles that are increasingly needed by the community increase the volume of vehicle traffic, resulting in a high demand for parking spaces. Especially in public places such as campuses, offices, shopping centers, and other places. A parking lot is also needed that has a maximum capacity by determining the layout of the vehicle mileage in finding a parking location. In this paper, we are looking for the shortest path in the car park layout at FMIPA UNPAD using the Floyd-Warshall algorithm.

Study of Different Techniques used in WSN for Smart Mobility

Background: A Wireless Sensor Network (WSN) consists of a large number of sensor nodes deployed randomly over an area that can sense the surrounding environment to gather some data and interconnect over a wireless channel to share the information with neighboring nodes or with some users over the internet. WSN has a wide range of applications in the field of military, healthcare, industry, agriculture, livestock farming, and smart cities. The pertinence of WSN in healthcare, defense, agriculture, and industry is discussed in detail in the background section of this paper. Objective: The objective of this paper is to examine and simulate Dijkstra’s Algorithm, Bellman Ford’s Algorithm, and Floyd-Warshall’s Algorithm applied for routing in WSN. Methods: Simulation is completed on CupCarbon U-one 4.2 simulator for these algorithms to compute the shortest distance between a randomly deployed source node and a destination node in different sized networks. Simulation of the three algorithms is carried out considering the vital simulation parameters including sensor radius, radio range, and traffic. Also, Simulation is carried out to show the implementation of Floyd Warshall’s algorithm in the field of smart mobility. Results: The obtained results show that the simulation time for the calculation of the shortest route from source to destinations for the three algorithms is the same which is also suitable for various applications of smart mobility, smart accident management, and smart traffic management. Conclusion: The simulation results are also examined to measure the performance of each algorithm and its suitability in the context of WSN. The epilogue of this paper is provided in the conclusion section.

Integrated aviation model and metaheuristic algorithm for hub-and-spoke network design and airline fleet planning

Most extant studies on aviation’s hub-and-spoke network focus on the optimization problems from the perspective of economies of scale thanks to the inherent inter-hub connections, whereas the economies of scale on each route is contingent on the associated allocation of different types of aircraft. In this paper, we devise an integrated model of hub-and-spoke network design and fleet planning with the constraints of the passenger flow demand as well as the adaptation of different types of aircraft for each route, with the objective to minimize the total system cost (i.e., the sum of the hub setting cost and aircraft’s related cost). To tackle the complexity of the integrated model, we develop a heuristic solution algorithm based on a Genetic Algorithm framework and an improved Floyd–Warshall algorithm to solve the value of the fitness function. The proposed model and the developed algorithms are tested with the US flight network (i.e., the CAB dataset) and China’s aviation network. The sensitivity analysis reveals that the demand window is one of the critical factors that affect hub-and-spoke network design and fleet planning, while the utilization rate of specified aircraft fleet determines the fleet configuration, which poses relatively less impact on hub-and-spoke network design.

Data Visualization and Interaction of Urban Traffic Logistics Management System Using WebGIS.

At present, the large amount of data generated by transportation and logistics in cities brings great difficulties to data management and operation. The purpose is to explore the applicability of WebGIS and expand the application of intelligent interactive urban traffic logistics management. An urban traffic logistics management system is designed for urban traffic route assignment and intelligent interaction based on the WebGIS system and the basic principles and related algorithms of urban traffic route assignment. Then, the operation of the system under different shortest path algorithms and different path assignment algorithms is discussed. As a result, the Dijkstra algorithm runs faster than the Floyd algorithm. The comparison of three different road assignment algorithms shows that the no road assignment algorithm has the smallest average time consumption, which is 264.43 ms. The running time of the continuous average algorithm is the same as that of the user balance algorithm. The WebGIS system has practical application value compared with the TransCAD system and Cube system. This article proposes that the interactive function of the system can be used normally. The vehicle information of the test sample points can be displayed, and the function realization effect is good. The research results can provide scientific references for the follow-up research on intelligent transportation.

Identification of Key Components of CNC Lathe Based on Dynamic Influence of Fault Propagation

Identifying the key components of CNC lathe and analyzing the fault propagation behavior is a powerful guarantee for the fault diagnosis and health maintenance of CNC lathe. The traditional key component identification studies are mostly based on the feature parameter evaluation of the fault propagation model, disregarding the dynamics and influence of fault propagation. Therefore, this paper proposes a key component identification method based on the dynamic influence of fault propagation. Based on the CNC lathe architecture and fault data, the cascaded faults are analyzed. The improved Floyd algorithm is used to iterate and transform the direct correlation matrix expressing the cascaded fault information, and the fault propagation structure model of each component is constructed. The coupling degree function is introduced to calculate the dynamic impact degree between components, and the dynamic fault propagation rate of each component is calculated with the dynamic fault rate model. Based on this, the dynamic influence value of fault propagation is obtained by using the improved ASP algorithm. The key components of the system are identified by synthesizing the fault propagation structure model and the dynamic influence value of fault propagation. Taking a certain type of CNC lathe as an example, the proposed method is verified to be scientific and effective by comparing with the traditional identification method of key components based on fault propagation intensity.

Reroute Optimization Based on Route Segment Availability Under Convective Weather

With the rapid growth of global traffic flow, the flight anomalies caused by convective weather are becoming worse. More efficient traffic control measures can be implemented to improve airspace’s effective utilization and reduce the resulting ground and air waiting times if reroute optimization during cruise under convective weather can be realized before taking off. Based on vertical integrated liquid water, echo top, and flight altitude, this paper establishes a three-dimensional deviation probability distribution and defines a method of segment availability and capacity in convective weather. The optimization algorithms named Floyd, Rapidly-exploring Random Tree Star (RRT*), and informed-Rapidly-exploring Random Tree Star (Informed-RRT*) are used to minimize reroute distances. The deviation probability distribution is established based on 6146 historical flights under convective weather from 11 to 20 August 2018 in some upper area control centers under the administration of central and southern air traffic management bureaus. The Floyd and informed-RRT* algorithms are compared for reroute optimization for several flights in a given scenario. Based on the time to compute optimized reroutes and the quality of the reroute results, the Floyd algorithm is shown to provide the best rerouting optimization.

A multi-layered intrusion detection system for software defined networking

The majority of existing DDoS defense mechanisms in SDN impose a significant computational burden on the controller and employ limited flow statistics and packet features. Tackling these issues, this paper presents a multi-layer defense mechanism that detects and mitigates three distinct types of flooding DDoS attacks. In the proposed framework, the detection process consists of flow-based and packet-based attack detection mechanisms employing Extreme Learning Machine-based Single-hidden Layer Feedforward Networks (ELM-SLFNs) and Case-based Information Entropy (C-IE), respectively. Moreover, the affected switches are avoided in the optimal path determined by the Floyd-Warshall algorithm, where the switches are classified based on the Hidden Markov Model (HMM) using the extracted packet features. Our simulation demonstrates the improved performance of our framework compared to similar schemes proposed in the literature in terms of different metrics, including attack detection rate, detection accuracy, false-positive rate, switch failure ratio, packet loss rate, response time, and CPU utilization.

Optimization of Passenger-like Container Train Running Plan Considering Empty Container Dispatch

Railway container transportation plays an important role in the sustainable development of transportation. In order to improve the efficiency of container transportation and maximize the transportation revenue of railway enterprises, taking the passenger-like container train running plan as the research object, we established an optimization model. The model considers the transportation requirements of empty and heavy containers, aiming at the maximum revenue of railway transportation enterprises, the conservation of container flow, train stops, container reloading, and other constraints. It is a mixed-integer linear programming optimization model. First, the shortest path between nodes was solved by the Floyd algorithm as the candidate set of the train to be run, and then the particle swarm algorithm was designed to solve the model. Numerical experiments were carried out by taking a container network with 34 nodes as an example to verify the validity of the model and algorithm. The experimental results showed that when the minimum average loading rate of trains is 70%, 47 lines need to be run, which is 163 less than the candidate lines. The running cost of all trains is 31,901,200 yuan, and total revenue of the transportation enterprise is 10,930,568 yuan. Compared with the existing container transportation mode, the passenger-like container transportation mode has a higher average number of trains and faster velocity. However, it has a lower average loading rate and proportion of direct container flow. The results were compared in three different minimum average loading rate values: 50%, 60%, and 70%. It was found that with the increase of the minimum average loading rate of trains, the number of lines to be opened decreases, the cost of running decreases, and the revenue of transportation enterprises increases.

A Novel Fault Isolation Scheme in Power System With Dynamic Topology Using Wide-Area Information

The flexible and dynamic operation condition of the power system requires that the fault isolation scheme has sufficient adaptability. A novel fault isolation scheme based on wide-area information is proposed in this article. Based on graph theory, the adjacency matrices of the electrical components and circuit breakers are constructed. The real-time switch status data is exploited to reflect the dynamic changes of the network topology. Then, the tripping path of the circuit breaker connecting each protected electrical component is searched by the Floyd–Warshall algorithm to formulate the fault isolation set for all protected electrical components. The proposed approach is applied to fault isolation from a wide-area perspective, and it is not affected by system coordination and selectivity compared with the one based on local information. The effectiveness of the proposed scheme is verified on a power system with the typical electrical connection under the cases of a single fault, multiple faults, circuit breaker failure, and substation with the outage of dc power supply, and the case where the circuit breakers cannot trip. Since the tripping sequence of the circuit breakers is determined before the fault occurs, even with dynamic changes of the power system conditions, the proposed scheme can minimize the fault isolation zone with low fault clearance time.

Research on Optimal Model of Maritime Search and Rescue Route for Rescue of Multiple Distress Targets

Coastal countries began to develop green energy, and offshore wind power equipment in coastal areas was gradually built. Since coastal wind power generation often requires carrying out maintenance between wind turbines with the assistance of service operation vessels, this situation may cause coastal areas to be prone to people falling into the water. However, traditional maritime search and rescue plans take a long time to gather information from man overboard incidents. In order to minimize injuries to people in distress, the maritime search and rescue process must be as short as possible. Despite that all the search and rescue plans are based on the concept of the shortest path, the efficient plans must not only consider the distance but also consider the cost of search and rescue. Therefore, this study established a set of practices applicable to the on-site commander (OSC) to dispatch rescue ships, as well as the planning of maritime search and rescue route models. Based on the easy-to-observe state of the target in distress, the model is analyzed and calculated by Floyd–Warshall algorithm and Grey relational analysis so as to sort the rescue plan and optimize the effect of the search and rescue route at sea. According to the simulation analysis, when the man overboard incident occurs in the coastal area, the OSC can immediately use this model to plan the best search and rescue route and dispatch a reasonable number of rescue ships.

Aplikasi Algoritma Floyd-Warshall untuk Mengoptimalkan Distribusi Listrik di PLN Kota Gorontalo

This research deals with the application of the Floyd-Warshall algorithm and Floyd-Warshall plus in the optimization of electricity distribution network routes in Gorontalo City. The route optimization begins by representing the power poles and cable lengths into a graph. The graph used is a weighted graph where the road (related to the length of the cable) is represented as a weighted side and the electric pole is represented as a point. This graph consists of a set of electric poles totalling 40 points and a set of roads (cable lengths) totalling 46 sides. The results showed that the shortest path of the electricity distribution network is and the minimum cable network length is 9,040 m.

Identification of the Potential Critical Slip Surface for Fractured Rock Slope Using the Floyd Algorithm

A rock slope can be characterized by tens of persistent discontinuities. A slope can be massive. The slip surface of the slope is usually easier to expand along with the discontinuities because the shear strength of the discontinuities is substantially lower than that of the rock blocks. Based on this idea, this paper takes a jointed rock slope in Hengqin Island, Zhuhai as an example, and establishes a three-dimensional (3D) model of the studied slope by digital close-range photogrammetry to rapidly interpret 222 fracture parameters. Meanwhile, a new Floyd algorithm for finding the shortest path is developed to realize the critical slip surface identification of the studied slope. Within the 3D fracture network model created using the Monte Carlo method, a sequence of cross-sections is placed. These cross-sections containing fractures are used to search for the shortest paths between the designated shear entrances and exits. For anyone combination of entry point and exit point, the shortest paths corresponding to different cross-sections are different and cluttered. For the sake of safety and convenience, these shortest paths are simplified as a circular arc that is regarded as a potential slip surface. The fracture frequency is used to determine the probability of sliding along a prospective critical slip surface. The potential slip surface through the entrance point (0, 80) and exit point (120, 0) is identified as the final critical slip surface of the slope due to the maximum fracture frequency.

Voltage Regulation With Electric Taxi Based on Dynamic Game Strategy

In this paper, a battery charging and swapping optimization model is established for electric vehicles (EVs) and battery charging/swapping stations (BCSS). The EVs are categorized into private electric vehicles (PrEVs) and electric taxis (ETs), where the charging behaviors of PrEVs are modeled based on the Monte Carlo (MC) method, and the battery swapping (BS) strategies of ETs are optimized by bi-level dynamic game. Moreover, the voltage deviation of the power grid is considered in the load regulation process of ETs. A “path-location” model is established combining with the Floyd algorithm in the simulation and the IEEE 14-Bus system is used to derive the node voltage. Numerical results show that the proposed strategy can simultaneously increase the revenue of BCSS and ETs and reduce the voltage deviation.

Fire Rescue Model Based on Time Series Analysis

In this paper, we establish relevant models for the problems in fire rescue and solve them. Using the ARIMA model to establish a prediction model for the number of fire rescue calls, and predict the number of fire rescue calls in each month in 2021. According to the characteristics of fire incidents, we divide fire incidents into 7 levels, and use the method of cluster analysis to analyze the spatial correlation of various incident densities in this area, and give the most relevant incident categories in different regions. Grey correlation analysis was used to analyze the relationship between the density of various events and population density in the area. And on this basis, based on the minimum distance between the new fire station and other areas, the Floyd algorithm is used to solve the shortest distance between each area and other areas, and the location where the new fire station should be built is analyzed.

Hierarchical Operation Management of Electric Vehicles for Depots With PV On-Site Generation

Solar photovoltaic (PV) generation is a promising energy cost-saving selection for depots that use electric vehicles (EVs) to deliver goods; however, the intermittency of power output renders it challenging to realize reliable and economical operations. This paper proposes a two-stage hierarchical operation management method of EVs for depots with on-site PV generation. In the day-ahead stage, considering real road networks and battery swapping mode, a coordinated scheduling model of delivery service and charging/discharging for EVs is constructed to minimize the overall energy cost and logistics delivery cost by using the forecasted PV power output. Moreover, an effective solution approach based on the natural aggregation algorithm and Floyd algorithm is developed for the model. In the actual operation stage, a model prediction control (MPC)-based rolling horizon operation strategy is proposed to correct EVs’ charging/discharging decisions with the realization of real-time PV power output, aiming at to minimize the deviation in the actual and day-ahead scheduled interactive power between the depot and upper grid. Finally, simulations are conducted to validate the proposed methods.

Application of Linear Programming Modeling in Multiwave Missile Launch

Linear programming modeling is mainly concerned with solving the maximum or minimum value of a linear function under a group of linear constraints. It has been widely used in many subjects and fields. As an application example of linear programming, this paper decomposed two-wave salvo into three steps, used Floyd algorithm and 0-1 programming to complete the task allocation model, and used Dijkstra algorithm to carry out path planning for the subsequent transfer of missile vehicles, and designed the transfer path with the highest survival rate.

Modified Floyd–Warshall’s Algorithm for Maximum Connectivity in Wireless Sensor Networks under Uncertainty

The main objective of this paper is to find the duration of maximum time connectivity of sensor nodes under uncertainty utilizing the prespecified voltage/power of each sensor node. Wireless sensor networks (WSNs) are composed of nodes that transmit data between each other over routing. A variety of routing protocols and algorithms exist, each related to a particular set of conditions. There are a variety of routing algorithms available, some of which can be used in WSNs for routing. The goal of the fastest distance routing algorithms in a WSN is to use the least amount of energy possible. In a WSN, Dijkstra’s algorithm is typically used for shortest path routing. The Floyd–Warshall’s algorithm is used to compute the shortest paths between distinct nodes in a regular graph, but due to the absence of a communication mode, this algorithm is not ideal for routing in wireless networks. In this research work, we have considered a WSN to find out the maximum connectivity time utilizing optimum voltage. On the other hand, duration of connectivity and energy/voltage are two vital parameters that are difficult to manage. Because of limited resources and safety concerns, safety implementation is limited. Also, due to the irregular/hazardous environmental situations, the distance between sensor nodes and its voltage to link up the nodes are totally unpredictable. In this work, we employ triangular fuzzy numbers to express unpredictability. Then, utilizing defuzzification of fuzzy numbers, the associated WSN problem was transformed into a crisp one. The widely used signed distance approach has been applied for the defuzzification of fuzzy numbers in this case. To determine the best outcome and to illustrate the usefulness of the suggested technique, a numerical example has been solved using the modified Floyd–Warshall’s algorithm. Finally, concluding remarks on the proposed approach as well as future studies have been provided.

Energy-efficient and Secure Wireless Communication for Telemedicine in IoT

The Internet of Things (IoT) represents a radical shifting paradigm for technological innovations as it can play critical roles in cyberspace applications in various sectors, such as security, monitoring, medical, and environmental sectors, and also in control and industrial applications. The IoT in E-medicine unleashed the design space for new technologies to give instant treatment to patients while also monitoring and tracking health conditions. This research presents a system-level architecture approach for IoT energy efficiency and security. The proposed architecture includes functional components that provide privacy management and system security. Components in the security function group provide secure communications through Multi-Authority Ciphertext-Policy Attributes-Based Encryption (MA-CPABE). Because MA-CPABE is assigned to unlimited devices, presuming that the devices are reliable, the user encodes data with Advanced Encryption Standard (AES) and protects the ABE approach using the solutions of symmetric key. The Johnson’s algorithm with a new computation measure is used to increase network lifetime since an individual sensor node with limited energy represents the inevitable constraints for the broad usage of wireless sensor networks. The optimal route from a source to destination turns out as the cornerstone for longevity of network and its sustainability. To reduce the energy consumption of networks, the evaluation measures consider the node’s residual energy, the number of neighbors, their distance, and the link dependability. The experiment results demonstrate that the proposed model increases network life by about 12.25% (27.73%) compared to Floyd–Warshall’s, Bellman–Ford’s, and Dijkstra’s algorithms, lowering consumption of energy by eliminating the necessity for re-routing the message as a result of connection failure.