Motion Path Research Articles

Semantics and Syntax of Old English Motion Verbs

This is a study in the syntax and semantics of Old English verbs of motion, including verbs of neutral motion, verbs of manner of motion and verbs of path of motion. Its aim is to identify the morphosyntactic alternations in which these verbs participate. The theoretical basis of the research draws on Goddard’s semantics of motion, Levin’s model of verb classes and alternations and Talmy’s typological distinction between satellite-framed languages and verb-framed languages. The grammatical patterns of the verbs under analysis are discussed, as described in The Dictionary of Old English (Healey), with special emphasis on the study of transitivity, case, prepositional government, and reflexivity. As far as meaning components are concerned, this work concentrates on the study of polysemy. The conclusions of this study refer to the consistency of the syntactic behaviour of the verbs under analysis and the main alternations found within the verbal classes.

Cooperative Path Planning for Multi-UAVs with Time-Varying Communication and Energy Consumption Constraints

In the field of Unmanned Aerial Vehicle (UAV) path planning, designing efficient, safe, and feasible trajectories in complex, dynamic environments poses substantial challenges. Traditional optimization methods often struggle to address the multidimensional nature of these problems, particularly when considering constraints like obstacle avoidance, energy efficiency, and real-time responsiveness. In this paper, we propose a novel algorithm, Dimensional Learning Strategy and Spherical Motion-based Particle Swarm Optimization (DLS-SMPSO), specifically designed to handle the unique constraints and requirements of cooperative path planning for Multiple UAVs (Multi-UAVs). By encoding particle positions as motion paths in spherical coordinates, the algorithm offers a natural and effective approach to navigating multidimensional search spaces. The incorporation of a Dimensional Learning Strategy (DLS) enhances performance by minimizing particle oscillations and allowing each particle to learn valuable information from the global best solution on a dimension-by-dimension basis. Extensive simulations validate the effectiveness of the DLS-SMPSO algorithm, demonstrating its capability to consistently generate optimal paths. The proposed algorithm outperforms other metaheuristic optimization algorithms, achieving a feasibility ratio as high as 97%. The proposed solution is scalable, adaptable, and suitable for real-time implementation, making it an excellent choice for a broad range of cooperative multi-UAV applications.

Motion Planning and Path Following for Autonomous Navigation and Reversing of a Full-Scale Mining Truck and Trailer System

Motion Planning and Path Following for Autonomous Navigation and Reversing of a Full-Scale Mining Truck and Trailer System

Method of Motion Path Planning Based on a Deep Neural Network with Vector Input

The article deals with the problem of path planning in a two-dimensional environment based on deep learning neural networks. Deep neural networks require large amounts of data and place high computational requirements on computing tools. The lack of sufficient data leads to a decrease in the accuracy of the neural network, and high computational requirements at the learning stage limit the use of this technology in engineering practice. In this paper, the forms of representation of the environment for the input of a neural network are studied. Vector form allows to reduce the amount of information supplied to the input of a neural network, but it leads to the need to use more complex neural networks. In this article, a combined form of representation is proposed, including a vector global and local map layout. The vector part of the map includes the position of the robot, the position of the target point and a description of obstacles. The local raster map describes the area closest to the robot. Using numerical research, the effectiveness of this form of data representation for a precise neural network is shown, compared with the raster representation of the map. In this article, two structures of neural networks are studied, one of which uses 8 possible directions of movement, and the other uses 3 possible directions of movement. It is shown that when using 3 possible directions, the cycling of trajectories planned by the neural network is eliminated, which leads to an increase in accuracy.

Numerical Analysis and Validation of Horizontal and Vertical Displacements of a Floating Body for Different Wave Periods

This study concentrates on numerically evaluating the behavior of a floating body with a box format. Although research on floating objects has been conducted, the numerical modeling of Wave Energy Converter (WEC) devices, considering the effects of fluctuations, remains underexplored. Therefore, this research intends to facilitate the analysis of floating devices. First, the experimental data served as a benchmark for evaluating the motion paths of the floating box’s centroid. Second, the effects of various wave periods and heights on the floating body’s movement were analyzed. The Volume of Fluid (VOF) multiphase model was applied to simulate the interactions between phases. The computational model involved solving governing equations of mass conservation, volumetric fraction transport, and momentum, employing the Finite Volume Method (FVM). The validation demonstrated that the Normalized Root Mean Square Error (NRMSE) for the x/h ratio was 3.3% for a wave height of 0.04 m and 4.4% for a wave height of 0.1 m. Moreover, the NRMSE for the z-coordinate to the depth of water (z/h) was higher, at 5% for a wave height of 0.04 m and 5.8% for a wave height of 0.1 m. The overall NRMSE remained within acceptable ranges, indicating the reliability of the numerical solutions. Additionally, the analysis of horizontal and vertical velocities at different wave periods and heights showed that for H = 0.04 m, the wave periods had a minimal impact on the amplitude, but the oscillation frequency varied. At H = 0.1 m, both velocities exhibited significantly larger amplitudes, especially for T = 1.2 s and T = 2.0 s, indicating stronger motion with higher wave heights.

System Tautochronic Path for Pendulum Vibration Absorber Based on Simple Harmonic Oscillator Transformation

Abstract Centrifugal pendulum vibration absorbers (CPVAs) are essentially collections of pendulums attached to a rotating component or components within a mechanical system for the purpose of mitigating the typical torsional surging that is inherent to internal combustion engines and electric motors. The dynamic stability and performance of CPVAs are highly dependent on the motion path defined for their pendulous masses. Assemblies of absorbers are tuned by adjusting these paths such that the pendulums respond to problematic orders (multiples of average rotation speed) in a way that smooths the rotational accelerations arising from combustion or other nonuniform rotational acceleration events. For most motion paths, pendulum tuning indeed shifts as a function of the pendulum response amplitude. For a given motion path, the tuning shift that occurs as pendulum amplitude varies produces potentially undesirable dynamic instabilities. Large amplitude pendulum motion that mitigates a high percentage of torsional oscillation while avoiding instabilities brought on by tuning shift introduces complexity and hazards into CPVA design processes. Therefore, identifying pendulum paths whose tuning order does not shift as the pendulum amplitude varies, so-called tautochronic paths, may greatly simplify engineering design processes for generating high-performing CPVAs. To illustrate this new approach and results, a tautochronic cutout shape producing constant period system motion is obtained for a simplified problem involving a mass sliding in the cutout of a larger mass that is free to translate horizontally without friction in a constant gravitational field, where the translating base mass replaces the rotating rotor in the centrifugal field.

A high-effective swarm intelligence-based multi-robot cooperation method for target searching in unknown hazardous environments

To solve target searching problems for multi-robot cooperation with inaccurate target distance perception in unknown hazardous environments, a hybrid adaptive robotic particle swarm optimizer (RPSO) and grey wolf optimizer (GWO) based algorithm with continuous virtual target guidance is proposed for high effective path planning in the searching. In the initial searching stages, both the wolf behavior-generated position and the gbest position and the pbesti positions from RPSO are employed to guide the motions of robots. With the information provided by these initial robot movement paths, a geometric model is established to generate potential targets. The K-means cluster algorithm is introduced to estimate a virtual target position online from potential targets, with new robot-presenting route information to update the history path information. Then the virtual position is employed as one of the direction components to help the robots approach the actual target. In addition, to avoid mobile robots falling into local convergence, a heuristic moving direction determination scheme is utilized to make robots circumvent obstacles in swarm motions, as well as a mutual repulsion algorithm to keep them in a scattering state. Simulation experiments on different types of unknown environments with varied robot numbers and adaptability testing for a dynamic target are carried out to verify the feasibility of the proposed target searching method with comparisons to the other three famous target searching algorithms. It is verified from the results that the presented method can not only contribute a 100% success rate in all runs of searching for a stochastic dynamic target under a limited maximal velocity, but also produce both the shortest path length and minimum iterations in terms of statistical metrics over the comparative methods.

Path planning strategies for logistics robots: Integrating enhanced A‐star algorithm and DWA

AbstractPath planning is the key part in the process of transportation conducted by logistics robots, and there often exist some problems with it. The path designed is not always smooth enough and its search efficiency is low, for example. As a common global path planning algorithm, A‐star is based on the traditional algorithm, which is unable to solve the problem of uneven path in the movement of logistics robots. Through improving the heuristic function of the traditional A‐star algorithm, weighing the heuristic function dynamically, removing the redundant points of the traditional star algorithm path with Floyd algorithm, and setting a safe distance to prevent the logistics robot from collision at the same time, the path is finally curved to be more appropriate to the movement path of the logistics robot. The MATLAB simulation of A‐star algorithm before and after the improvement shows that the turning points of the advanced A‐star algorithm reduced 61.5% on average compared to the traditional algorithm. The path length decreased 2.4% and the traversing points reduced 58.5%. At the same time, the DWA algorithm introduces dynamic weight coefficients, which can dynamically adjust the weight coefficients when encountering obstacles, so as to safely reach the target point.

A molecular insight into asphalt-aggregate interfacial debonding: The role of hydrogen bonds in water molecule migration

In this study, molecular dynamics were employed to compare the angles, lengths, and numbers of hydrogen bonds between water molecules and different aggregates. Compared to quartz, calcite has shorter bond lengths, larger bond angles, and a greater number of bonds with water molecules. The differences in hydrogen bonds lead to the formation of a three-layer structure on the calcite surface by water molecules: ordered, relatively ordered, and disordered, while a two-layer structure—relatively ordered and disordered—is formed on the quartz surface. In the ordered layer, water molecules experience the strongest hydrogen bonding, are neatly arranged, and have low diffusion coefficients. In contrast, the disordered layer is characterized by weaker hydrogen bonding, random arrangement, and higher diffusion coefficients. The movement path of water molecules shows that the debonding of asphalt and aggregate is jointly influenced by the migration behavior of both the underlying and upper-layer water molecules. These findings reveal the microscopic mechanism of water molecules forming a wedge shape at the asphalt-aggregate interface from the perspective of hydrogen bonds, explaining why the constraint of water on the Calcite {214} and Calcite {018} surfaces is stronger compared to Calcite {1 0 4}, but the bonding energy with asphalt decays more rapidly.

COMPARISON OF SPATIAL RELATIONS IN MENZIL COMPLEXES ON THE HISTORIC ROUTES OF ANATOLIA

Özet 1: Menzil Complexes had started to be constructed at the crossroads of significant trade routes since the Anatolian Seljuk period. These social structures promoted the growth of cities, facilitated commerce, and ensured safety in the Ottoman period. It is essential to examine the relationships between commercial, accommodation, religious, and educational spaces analytically in the design of the Menzil complexes. The study aims to determine the relationship between the functions in the Menzil complex by Visibility Graph Analysis (VGA) connectivity (connection between spaces) and through vision (movement path) analysis. In this way, the location and importance of the functions in the design of the range complexes established to promote urban development and trade will be determined. Özet 2: The method of the study consists of two steps. In the first step, the space functions and the transitions between spaces were identified. In the second phase, the relation between the spaces that have different functions is investigated with the Visibility Graph Analysis (VGA) connectivity and through vision analysis by DepthMapX 0.8.0. It is seen that there is no clear distinction between plan organizations in terms of region or route, but the primary targets are preserved in terms of spatial organization. Ensuring spatial relationships while protecting the main objectives in different plan organizations shows the development of the architectural planning approach of that period.

Improvement of Torque according to the Movement Path of a Four-axis Multi-joint Robot

Improvement of Torque according to the Movement Path of a Four-axis Multi-joint Robot

The Effect of Special Exercises for The Arm at Different Angles Using Rubber Ropes Distinguished by The Speed, Speed and Accuracy of The Front Spiral for Table Juniors in Sweden

The science of sports training always seeks to raise the level in various sports activities in general and in table tennis in particular through the use of scientific methods in the training process, which constitute the cornerstone in developing physical abilities and skill performance. Special exercises contribute significantly to the development of physical abilities and the speed of skill performance, especially in the forward spiral strikes, by following the path of the arm movement, the type of rotation, and the speed of the stroke. Also, the type of hit executed and the player’s distance from the table will largely determine the angle of the playing arm, and the position of the arm angle must be according to the goal of the hit. Coaches stress the importance of the arm angle at the moment the ball is struck to the player near the table being (90) degrees at Almost attached. From here, the research problem crystallized, as it was observed that there was a decrease in the level of performance of the skill of the forward spiral strike close to the table and at an angle of approximately (90) degrees, which is considered very important for the player when he faces a spiral strike close or far from the table from the opponent. The reason for this is attributed to the fact that most players do not They realize the importance of the relationship between the player’s stance at the table and the angle of the striking arm, that is, not employing and investing in the mechanical foundations related to the angle of the striking arm. The researchers used the descriptive and experimental approach by designing the two groups with a pre-post measurement system for the occasion and nature of the study, cinematography, and analysis of bio-kinematic variables using the Kinovea program. The research sample was chosen intentionally from a team from the Swedish club IFK Lund Bord tennis under the age of 16 years. The most important results that were reached were For her; The positive effect of exercises using rubber ropes on developing strength characterized by speed, as well as the speed and accuracy of the ball in the post-tests of the experimental group compared to the control group. The researchers have made several recommendations, including conducting similar research through which the player’s ability to develop how to invest physical and biomechanical abilities in other skills in the sport of table tennis can be developed. The researchers used the descriptive and experimental approach by designing the two groups with a pre-post measurement system for the occasion and nature of the study, cinematography, and analysis of bio-kinematic variables using the Kinovea program. The research sample was chosen intentionally from a team from the Swedish club IFK Lund Bord tennis under the age of 16 years. The most important results that were reached were For her; The positive effect of exercises using rubber ropes on developing strength characterized by speed, as well as the speed and accuracy of the ball in the post-tests of the experimental group compared to the control group. The researchers have made several recommendations, including conducting similar research through which the player’s ability to develop how to invest physical and biomechanical abilities in other skills in the sport of table tennis can be ...

Evaluation of fabric-based pneumatic actuator enclosure and anchoring configurations in a pediatric soft robotic exosuit.

Soft robotics play an increasing role in the development of exosuits that assist, and in some cases enhance human motion. While most existing efforts have focused on the adult population, devices targeting infants are on the rise. This work investigated how different configurations pertaining to fabric-based pneumatic shoulder and elbow actuator embedding on the passive substrate of an exosuit for pediatric upper extremity motion assistance can affect key performance metrics. The configurations varied based on actuator anchoring points onto the substrate and the type of fabric used to fabricate the enclosures housing the actuators. Shoulder adduction/abduction and elbow flexion/extension were treated separately. Two different variants (for each case) of similar but distinct actuators were considered. The employed metrics were grouped into two categories; reachable workspace, which includes joint range of motion and end-effector path length; and motion smoothness, which includes end-effector path straightness index and jerk. The former category aimed to capture first-order terms (i.e., rotations and displacements) that capture overall gross motion, while the latter category aimed to shed light on differential terms that correlate with the quality of the attained motion. Extensive experimentation was conducted for each individual considered configuration, and statistical analyses were used to establish distinctive strengths, weaknesses, and trade-offs among those configurations. The main findings from experiments confirm that the performance of the actuators can be significantly impacted by variations in the anchoring and fabric properties of the enclosures while establishing interesting trade-offs. Specifically, the most appropriate anchoring point was not necessarily the same for all actuator variants. In addition, highly stretchable fabrics not only maintained but even enhanced actuator capabilities, in comparison to the less stretchable materials which turned out to hinder actuator performance. The established trade-offs can serve as guiding principles for other researchers and practitioners developing upper extremity exosuits.

Motion path planning method based on map reference points

Motion path planning method based on map reference points

CATALOG OF LANDSLIDES OF THE CITY OF ZENICE WITH SPECIFIC CAUSES

As part of its activities, the Federal Institute of Geology carries out mapping of active landslides in the territory of the Federation of Bosnia and Herzegovina, and my task is to map instability in the area of the City of Zenica. A very large number of landslides were registered during the catastrophic rainfall that occurred in 2014. Following these phenomena and certain records, detailed mapping of unstable slopes and records of unstable surfaces was started. The cadastre is defined in such a way that it displays all input data with location polygons in GIS. Not in the field, quite recognizable causes were observed, which are always a combination of bad geological and hydrogeological conditions with a significant anthropogenic factor. The slope of the terrain is also very unfavourable, and gravity also played a significant role in the instability of these slopes. Almost all registered landslides have unregulated water (surface, underground, waste). The frequent occurrence of earthquakes on this section also significantly threatened the stability of slopes and buildings, and on the spot, the consequences of cracking and shearing of buildings were evident as a result of the earthquake. A special review will be given to the activation of mudflows during extensive rainfall in this area, which is not rare. A significant share in the formation of mudflows belongs to heavy precipitation, which over time formed the so-called "watersheds" where water was transported from higher to lower parts of the slope. However, during the climate changes, there was a significant increase in the amount and frequency of precipitation, which carried the surface cover and rock blocks that were moved down the steep slopes. Road approaches to the villages, as well as a significant number of buildings, made artificial dams and cut cuts that were a natural way of draining water. So you have a significant number of buildings built exactly on these "watersheds" that represent the dam. In the newly created situation, by changing the natural paths of movement of surface and underground water, it would be necessary to regulate the water below and around the road strip, as well as the drainage of water around buildings. Only after the water has been drained, certain geotechnical procedures can be carried out to stabilize the slope and to permanently rehabilitate it, so that the inhabitants of these villages do not constantly fear during rainfall.

Design and experimental verification of an S-shaped continuous weft insertion system for soft–hard blended preform narrow channels

To address the limitations of the existing weft insertion technology in inserting carbon fiber bundles into the narrow channels of soft–hard blended preform, a proposed solution is to use a continuous weft insertion trajectory based on an S-shaped path for narrow channels. A weft insertion system that meets the process requirements has been designed. The analysis of the functional requirements for the continuous weft insertion system has identified five key nodes for the system, and the motion paths of each mechanism have been established. Through design methods such as analytical methods, rigid inversion methods, and mechanical analysis, the modular design of the system and the planning of the timing sequence for multiple mechanisms have been completed. Weft insertion experiments have been conducted on a continuous weft insertion system experimental platform, and the results demonstrate that the weft insertion system can effectively introduce carbon fiber bundles into the narrow channels, forming the expected S-shaped continuous weft insertion trajectory. This study verifies the feasibility of the designed weft insertion system and the accuracy of the continuous weft insertion theory, providing a viable solution for continuous weft insertion in the narrow channels of soft–hard blended preforms.

Spatiotemporal coordination in children with unilateral cerebral palsy: Insights from a bimanual goal-directed task

BackgroundIn children with unilateral cerebral palsy (uCP), bimanual assessments mostly focus on qualitative assessments of the impaired upper limb during bimanual tasks, which do not capture the spatiotemporal coordination between both hands. Hence, we aimed to advance our understandings in spatiotemporal coordination in children with uCP compared to typically developing children (TDC) using a bimanual, asymmetrical, goal-directed task. Participants and methodologyIn this observational study, thirty-seven children with uCP (11y8m±2y10m, 20 males, 16 right-sided uCP, Manual Ability Classification System level I = 23, II = 11, III = 3) and 37 age and sex-matched TDC opened a box with one hand and pressed a button inside using the opposite hand. Spatiotemporal bimanual (movement time, temporal coupling, movement overlap, goal synchronisation) and unimanual (movement time, path length and smoothness) parameters were extracted. Between groups comparisons were investigated using a two-way mixed ANCOVA with age as covariate (α < 0.05). Additionally, correlation coefficients between unimanual and bimanual parameters were calculated. ResultsCompared to TDC, children with uCP were slower (p = 0.01, ηp2 = 0.13) and presented unimanual spatiotemporal deficits in both upper limbs (p < 0.03, ηp2>0.10), which worsened in children with lower manual abilities (p < 0.04, ηp2>0.19). However, they did not differ in bimanual coupling (p > 0.31, ηp2<0.03). Furthermore, slower movement time was related with increased unimanual spatiotemporal deficits bilaterally (r = 0.34–0.80, p = 0.001–0.04), suggesting that reduced performance at both upper limbs contributes to bimanual difficulties in children with uCP. ConclusionsThe bilateral reduced spatiotemporal performance, related to longer bimanual movement time, stresses the importance to assess and treat both upper limbs in children with uCP.

Analysis of existing means of the cutting tool path visualization in the CNC systems

BACKGROUND: Currently, machines for processing metals and other materials are used in various industry sectors. Operation of these machines defined with the CNC is impossible without using the corresponding systems, which ensure performing real-time configuring of the system for solving various technological tasks by means of machine drives control. AIM: Analysis of functional capabilities of the visualization module of the AksiOMA Kontrol CNC system in comparison with other well-known same-type systems with consequent enlarging of capabilities of this module. Based on this, the study aim is formulated as follows: broadening the functional capabilities of the module of cutting tool motion path visualization in the AksiOMA Kontrol CNC system by means of development of the path analysis module. METHODS: For achieving the aim, the next task to broaden the functional capabilities of the module of cutting tool path visualization in the AksiOMA Kontrol CNC system is formulated as follows: analysis of existing means of cutting tool path visualization in the CNC systems. RESULTS: The study result is the fact that the visualization interface is critically important for operation, as it helps the operator to assess the abnormal situation quickly. Mistakes can be found at every stage of part machining setting-up. The mistakes can be made when positioning the part or the tool, at zero-point binding, at axes offset setting-up, etc. When machine equipment is set up, generally, difficulties take place if there is a different set-up for the other order. For these cases, in the CNC systems, such functional capabilities as processing visualization are necessary. This functionality is critically important, as it helps to find a mistake in time, to assess the danger level, and to fix it in time, that helps to prevent both the machine and the tool from failure and excessive mechanical impact. CONCLUSION: The study, which contains solving the tasks of analysis of cutting tool motion path in the AksiOMA Kontrol CNC system, is completed. The analysis conducted in the paper revealed that majority of CNC systems does not have the presented functional capabilities that does not help to conduct the complete analysis of the machining process.

A two-layer economic resilience model for distribution network restoration after natural disasters

Improving the resilience of energy networks and minimizing outages is crucial, making the development of self-healing strategies essential for ensuring a continuous power supply and boosting resilience. As decentralized prosumers become more integrated into smart grids, innovative coordination methods are required to fully leverage their potential and improve the system's self-healing capabilities. Hence, in this paper, we present a decentralized two-layer model for active distribution networks (ADNs) incorporating commercial energy hubs, Parking lots (PLs), hydrogen refueling stations, and mobile units (MUs). This model aims to maximize the flexible capacities of flexible prosumers under emergencies and includes a dynamic mechanism for transporting hydrogen to refueling stations via trucks. In the first layer of the model, the AND operator provides the required services to flexible prosumers, including commercial energy hubs, PLs and hydrogen refueling stations. During this layer, the movement paths of mobile units, such as battery-based mobile storage units (MSUs) and mobile hydrogen units (MHUs), are determined. In the second layer, prosumers independently plan and decide the extent of their service contributions. Subsequently, with the actual service capacities established, the AND operator re-optimizes the initial planning to finalize the system schedule and precise movement paths of the mobile units. The proposed model was tested on a modified 83-bus distribution network using the CPLEX solver in GAMS. Simulation results demonstrate a 54.9 % reduction in forced load shedding (FLS) due to the dispatch of mobile units and a further 84.4 %% reduction in FLS from leveraging the flexible capacities of commercial energy hubs and PLs.

Novel Empress SARANI Optimization Algorithm to solve the Electrical Energy -Active Power Loss Reduction and Voltage Stability Enhancement

; This paper proposes Pomarine jaeger Optimization (PJO) algorithm, Tiger hunting Optimization (THO) Algorithm, Desert Reynard and Vixen Inspired Optimization (DRVIO) Algorithm, Lonchodidae optimization (LO) algorithm, Caracal optimization (CO) algorithm, Barasingha optimization (BO) algorithm, Amur leopard optimization (AO) algorithm and Empress SARANI Optimization Algorithm to solve the active power loss reduction problem. Regular actions of Pomarine jaeger have been emulated to model the PJO procedure. In THO algorithm, how the Tiger moves to capture the prey is imitated and formulated. In DRVIO algorithm, Desert Reynard and Vixen burrowing capability and spurt tactic from desolate slayers are imitated to formulate the algorithm. LO algorithm emulates the physiognomies of convergent progression, track reliance, populace development and rivalry in the growth of the Lonchodidae populace in environment. In CO approach, Caracal assaults the designated quarry and then quests the quarry in a dashing procedure. BO algorithm stimulated by the Barasingha existence capability in the slayer subjugated atmosphere. AO algorithm imitates the Amur leopard behaviour. Movement paths, stalking, breeding and death are the some phases in the Amur leopard life cycle. Empress SARANI Optimization Algorithm is designed by integrating Parastylotermes Empress inspired optimization (PEIO) algorithm, Dryocopus martius optimization (DMO) algorithm, Ostrya Carpinifolia Search Optimization (OCSO) Algorithm, Hermitage Activities Inspired optimization (HAIO) algorithm with SARANI algorithm. Validity of Empress SARANI Optimization Algorithm is verified in 24 benchmark functions, IEEE and Practical systems. Real power loss (MW) obtained by projected algorithms for IEEE 57 bus system is PJO-21.99, THO-22.79, DRVIO-21.79, LO-23.16, CO-23.92, BO-22.81, AO- 24.89 and Empress SARANI- 20.91. For IEEE 300 bus system is PJO-395.153, THO-397.398, DRVIO-394.208, LO-398.192, CO-398.397, BO-395.209, AO-399.884 and Empress SARANI-389.217. For IEEE 354 bus system is PJO-336.108, THO-339.563, DRVIO-339.099, LO-340.164, CO-340.592, BO 338.906, AO-342.184 and Empress SARANI-334.098. For practical system - WDN 220 KV is PJO-29. 008, THO-30. 929, DRVIO-28. 519, LO-31.265, CO-31. 893, BO-29.872, AO-32.899, Empress SARANI-26.101