Abstract
This paper proposes a method, based on a genetic algorithm, to generate smoth manipulator trajectories in a multi-objective perspective. The method uses terms proportional to the integral of the squared displacements in order to eliminate the jerk movement. In this work, the algorithm, based on NSGA-II and maximin sorting schemes, considers manipulators of two, three and four rotational axis (2R, 3R, 4R). The efficiency of the algorithm is evaluated, namely the extension of the front and the dispersion along the front. The effectiveness and capacity of the proposed approach are shown through simulations tests.

Abstract
The particle swarm optimisation algorithm is proposed as a new method to design a model-based predictive greenhouse air temperature controller subject to restrictions. Its performance is compared with the ones obtained by using genetic and sequential quadratic programming algorithms to solve the constrained optimisation air temperature control problem. Controller outputs are computed in order to optimise future behaviour of the greenhouse environment, regarding set-point tracking and minimisation of the control effort over a prediction horizon of I h with 1-min sampling period, for a greenhouse located in the north of Portugal. Since the controller must be able to predict the greenhouse environmental conditions over the specified time interval, it is necessary to use mathematical models that describe the greenhouse climate, as well as to predict the outside weather. These requirements are met by using auto regressive models with exogenous inputs and time series auto-regressive models to simulate the inside and outside climate conditions, respectively. These models have time variant parameters and so, recursive identification techniques are applied to estimate their values in real-time. The models employ data from the climate inside and outside the greenhouse, as well as from the control inputs. Simulations with the proposed methodology to design the model-based predictive air temperature controller are presented. The results indicate a better efficiency of the particle swarm optimisation algorithm as compared with the efficiencies obtained with a genetic algorithm and a sequential quadratic programming method.

Abstract
The technique of genetic algorithms is proposed as a means of auto-tuning PID controllers. The technique revolves firstly using on-line data and the genetic algorithm to identify a model of the process. Then the identified model, the genetic algorithm and simulation methods, are used to off-line tune the PID controller, so as to minimize a time-domain based cost function. Finally, the genetically tuned controller is implemented on-line on the real process. The results of the genetic auto-tuner are illustrated by auto-tuning a PID controller on a laboratory heat exchanger, and comparing the genetic auto-tuning technique with the Astrom-relay auto-tuning technique.

Abstract

Abstract
Diffusion of innovation is a research topic which has been subject to several works in the last years. The diffusion of innovation theory aims to explain how new ideas and practices are disseminated between the members of a social system. A significant part of the existing models are based on the use of parameters which determine the process of innovation adoption, and rely on simple mathematical functions centered in the observation and description of diffusion patterns. This models enable a more explicit diffusion process study, but its use involves the estimation of diffusion coefficients, usually obtained from historical data or chronological series. This raises some problems, for instance when there is no data or it is insufficient. This paper proposes the use of evolutionary computation is an alternative approach for the simulation of innovation diffusion within organizations, in order to overcome some of the problems inherent to the existing models.

Abstract
The scheduling problem is considered in complexity theory as a NP-hard combinatorial optimization problem. Meta-heuristics proved to be very useful in the resolution of this class of problems. However, these techniques require parameter tuning which is a very hard task to perform. A Case-based Reasoning module is proposed in order to solve the parameter tuning problem in a Multi-Agent Scheduling System. A computational study is performed in order to evaluate the proposed CBR module performance.