Photovoltaics (PV) output power is highly sensitive to many environmental parameters and the power produced by the PV systems is significantly affected by the harsh environments. The annual PV power density of around 2000 kWh/m2 in the Arabian Peninsula is an exploitable wealth of energy source. These countries plan to increase the contribution of power from renewable energy (RE) over the years. Due to its abundance, the focus of RE is on solar energy. Evaluation and analysis of PV performance in terms of predicting the output PV power with less error demands investigation of the effects of relevant environmental parameters on its performance. In this paper, the authors have studied the effects of the relevant environmental parameters, such as irradiance, relative humidity, ambient temperature, wind speed, PV surface temperature and accumulated dust on the output power of the PV panel. Calibration of several sensors for an in-house built PV system was described. Several multiple regression models and artificial neural network (ANN)-based prediction models were trained and tested to forecast the hourly power output of the PV system. The ANN models with all the features and features selected using correlation feature selection (CFS) and relief feature selection (ReliefF) techniques were found to successfully predict PV output power with Root Mean Square Error (RMSE) of 2.1436, 6.1555, and 5.5351, respectively. Two different bias calculation techniques were used to evaluate the instances of biased prediction, which can be utilized to reduce bias to improve accuracy. The ANN model outperforms other regression models, such as a linear regression model, M5P decision tree and gaussian process regression (GPR) model. This will have a noteworthy contribution in scaling the PV deployment in countries like Qatar and increase the share of PV power in the national power production.

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This paper shows how Q-learning approach can be used in a successful way to deal with the problem of mobile robot navigation. In real situations where a large number of obstacles are involved, normal Q-learning approach would encounter two major problems due to excessively large state space. First, learning the Q-values in tabular form may be infeasible because of the excessive amount of memory needed to store the table. Second, rewards in the state space may be so sparse that with random exploration they will only be discovered extremely slowly. In this paper, we propose a navigation approach for mobile robot, in which the prior knowledge is used within Q-learning. We address the issue of individual behavior design using fuzzy logic. The strategy of behaviors based navigation reduces the complexity of the navigation problem by dividing them in small actions easier for design and implementation. The Q-Learning algorithm is applied to coordinate between these behaviors, which make a great reduction in learning convergence times. Simulation and experimental results confirm the convergence to the desired results in terms of saved time and computational resources. Keywords Mobile robot, behaviors based navigation, fuzzy logic and reinforcement learning.