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The objective of this paper is to simulate the algorithm to detect object for Automated Guide Vehicle (AGV) guidance problem, namely to obstacle avoidance. Currently, the AGV is a transport vehicle widely used in manufacturing factories and plays an important role in the design of material handling system, moving goods to raw materials or finished product to rightful destination that work automatically. This method has been designed for use in security of internal transportation system in order to prevent a collision to the AGVs and the obstacles, which do not know the exact shape, size and color. Such real-time obstacle detection was crucial, we need to classify the obstacles that are real obstacles or fake obstacles. The computer vision with artificial neural networks (ANN) can help the AGV can see and recognize like a human by imitating the functions of the human brain. In this paper, we proposed an algorithm for detecting obstacle that work automatically with no human is required. The algorithm is divided in to two parts: First, a preliminary feature extraction stage by using the Histograms of Oriented Gradients (HOG) to extract height objects feature from the actual video images. Second, the recognition and classification of the obstacles that are real obstacles or fake obstacles such as a painting or text on the floor by a feed-forward time delay neural network (TDNN) in sequences of black and white video images taken by an on-board camera, then decide whether to hold or continue to be moved. As a result, this paper presents the simulate the algorithm to detect the obstacles for AGV, which can work to destination are defined and avoided obstacles by computer vision with TDNN as an alternative principle with high accuracy and reliability. [ABSTRACT FROM AUTHOR]

Abstract In streaming data classification, most of the existing methods assume that all arrived evolving data are completely labeled. One challenge is that some applications where only small amount of labeled examples are available for training. Incremental semi-supervised learning algorithms have been proposed for regularizing neural networks by incorporating various side information, such as pairwise constraints or user-provided labels. However, it is hard to put them into practice, especially for non-stationary environments due to the effectiveness and parameter sensitivity of such algorithms. In this paper, we propose a novel incremental semi-supervised learning framework on streaming data. Each layer of model is comprised of a generative network, a discriminant structure and the bridge. The generative network uses dynamic feature learning based on autoencoders to learn generative features from streaming data which has been demonstrated its potential in learning latent feature representations. In addition, the discriminant structure regularizes the network construction via building pairwise similarity and dissimilarity constraints. It is also used for facilitating the parameter learning of the generative network. The network and structure are integrated into a joint learning framework and bridged by enforcing the correlation of their parameters, which balances the flexible incorporation of supervision information and numerical tractability for non-stationary environments as well as explores the intrinsic data structure. Moreover, an efficient algorithm is designed to solve the proposed optimization problem and we also give an ensemble method. Particularly, when multiple layers of model are stacked, the performance is significantly boosted. Finally, to validate the effectiveness of the proposed method, extensive experiments are conducted on synthetic and real-life datasets. The experimental results demonstrate that the performance of the proposed algorithms is superior to some state-of-the-art approaches. [ABSTRACT FROM AUTHOR]

This paper investigates the construction of sparse radial basis function neural networks (RBFNNs) for classification problems. An efficient two-phase construction algorithm (which is abbreviated as TPCLR 1 for simplicity) is proposed by using L 1 regularization. In the first phase, an improved maximum data coverage (IMDC) algorithm is presented for the initialization of RBF centers and widths. Then a specialized Orthant-Wise Limited-memory Quasi-Newton (sOWL-QN) method is employed to perform simultaneous network pruning and parameter optimization in the second phase. The advantages of TPCLR 1 lie in that better generalization performance is guaranteed with higher model sparsity, and the required storage space and testing time are much reduced. Besides these, only the regularization parameter and the maximum number of function evaluations are required to be prescribed, then the entire construction procedure becomes automatic. The learning algorithm is verified by several classification benchmarks with different levels of complexity. The experimental results show that an appropriate value of the regularization parameter is easy to find without using costly cross validation, and the proposed TPCLR 1 offers an efficient procedure to construct sparse RBFNN classifiers with good generalization performance. [ABSTRACT FROM AUTHOR]

Relocation is one of the most common problems in Simultaneous Localization and Mapping (SLAM). This paper presents a novel relocation method, using unsupervised deep learning algorithm to extract the feature of Light Detection and Ranging (LiDAR) data, and narrows the scope of relocation by classifying these features to reduce the randomness of the relocation. Compared with the other methods which is based on matching the manual feature points, this method avoids some limitations of manual features. We modify the Particle Filter SLAM (PF-SLAM), and use our relocation method to replace the original method for experimentation. The experimental results demonstrate that this method can be relocation whit high success rate only use a small amount of computational resource in a short time. Training neural network will consume a lot of computing resources, we also propose a cloud computing framework to the implementation of this method for the mobile robot which computational resources are limited. [ABSTRACT FROM AUTHOR]

This paper presents a competitive co-evolutionary (ComCoE) that engages a double elimination tournament (DET) to evolve artificial neural networks (ANNs) for undertaking data classification problems. The proposed model performs a global search by a ComCoE approach to find near optimal solutions. During the global search process, two populations of different ANNs compete and fitness evaluation of each ANN is made in a subjective manner based on their participations throughout a DET which promotes competitive interactions among individual ANNs. The adaptation and fitness evaluation processes drive the global search for a more competent ANN classifier. A winning ANN is identified from the global search. Then, the Scaled Conjugate Backpropagation algorithm, which is a local search, is performed to further train the winning ANN to obtain a precise solution. The performance of the proposed classification model is evaluated rigorously; its performance is compared with the baseline ANNs of the proposed model as well as other classifiers. The results indicate that the proposed model could construct an ANN which could produce high classification accuracy rates with a compact network structure. [ABSTRACT FROM AUTHOR]

Classification of experimental datasets such as target and clutter in sonar applications is a complex and challenging problem. One of the most useful instrument to classify sonar datasets is Multi-Layer Perceptron Neural Network (MLP NN). In this paper, due to the optimally updating the weights and biases vector of the MLP NN, Biogeography-Based Optimization (BBO) is used to train the network. BBO has a fair ability to solve high-dimensional real-world problems (such as sonar dataset classification) by maintaining a suitable balance between exploration and exploitation phases. The performance of BBO is sensitive to the migration model, especially for high-dimensional problems. To improve the exploitation ability of BBO and to record the better results for classifying sonar dataset, we propose novel migration models such as exponential-logarithmic, and some improved migration models having different emigration and immigration mathematical functions. To validate the performance of the proposed classifiers, this network will classify three datasets with various sizes and complexities. The simulation results indicate that our newly proposed classifiers perform better than the other benchmark algorithms in addition to original BBO in terms of avoiding gets stuck in local minima, classification accuracy, and convergence speed. [ABSTRACT FROM AUTHOR]

It has been known that one of the important steps in training a complex-valued radial basis function neural network is to effectively determine its centers and widths of neurons in the hidden layer. In this paper, an improved maximum spread algorithm is propose to solve this issue. Its basic idea is that the choice of centers not only depends on the distances between samples from different classes, but also is heavily affected by the average distance between samples in the same class. The relationship between external and inner distances is taken into account when determining centers. The performance of this algorithm is tested on several datasets. It is shown that much better performance can be achieved by the developed algorithm than by some existing ones. [ABSTRACT FROM AUTHOR]

The accuracy of classification and regression tasks based on data driven models, such as Neural Networks or Support Vector Machines, relies to a good extent on selecting proper data for designing these models, covering the whole input range in which they will be employed. The convex hull algorithm can be applied as a method for data selection; however the use of conventional implementations of this method in high dimensions, due to its high complexity, is not feasible. In this paper, we propose a randomized approximation convex hull algorithm which can be used for high dimensions in an acceptable execution time, and with low memory requirements. Simulation results show that data selection by the proposed algorithm (coined as ApproxHull) can improve the performance of classification and regression models, in comparison with random data selection. [ABSTRACT FROM AUTHOR]

There has been some improvement in the treatment of preterm infants, which has helped to increase their chance of survival. However, the rate of premature births is still globally increasing. As a result, this group of infants is most at risk of developing severe medical conditions that can affect the respiratory, gastrointestinal, immune, central nervous, auditory and visual systems. There is a strong body of evidence emerging that suggests the analysis of uterine electrical signals, from the abdominal surface (Electrohysterography – EHG), could provide a viable way of diagnosing true labour and even predict preterm deliveries. This paper explores this idea further and presents a new dynamic self-organized network immune algorithm that classifies term and preterm records, using an open dataset containing 300 records (38 preterm and 262 term ). Using the dataset, oversampling and cross validation techniques are evaluated against other similar studies. The proposed approach shows an improvement on existing studies with 89% sensitivity , 91% specificity , 90% positive predicted value , 90% negative predicted value , and an overall accuracy of 90%. [ABSTRACT FROM AUTHOR]

This article deals with classification problems involving unequal probabilities in each class and discusses metrics to systems that use multilayer perceptrons neural networks (MLP) for the task of classifying new patterns. In addition we propose three new pruning methods that were compared to other seven existing methods in the literature for MLP networks. All pruning algorithms presented in this paper have been modified by the authors to do pruning of neurons, in order to produce fully connected MLP networks but being small in its intermediary layer. Experiments were carried out involving the E. coli unbalanced classification problem and ten pruning methods. The proposed methods had obtained good results, actually, better results than another pruning methods previously defined at the MLP neural network area. [ABSTRACT FROM AUTHOR]

• Deep learning algorithm for identification of type and flight mode of detected drones. • Novel deep learning algorithm for detection of multiple drones in radio frequency domain. • Results of three indoor experiments concerning collecting and analyzing radio signals from drones. • Public available database with radio signals of drones from two different radio frequency bands. Unmanned aerial systems, especially drones have gone through remarkable improvement and expansion in recent years. Drones have been widely utilized in many applications and scenarios, due to their low price and ease of use. However, in some applications drones can pose a malicious threat. To diminish risks to public security and personal privacy, it is necessary to deploy an effective and affordable anti-drone system in sensitive areas to detect, localize, identify, and defend against intruding malicious drones. This research article presents a new publicly available radio frequency drone dataset and investigates detection and identification methodologies to detect single or multiple drones and identify a single detected drone's type. Moreover, special attention in this paper has been underlined to examine the possibility of using deep learning algorithms, particularly fully connected deep neural networks as an anti-drone solution within two different radio frequency bands. We proposed a supervised deep learning algorithm with fully-connected deep neural network models that use raw drone signals rather than features. Regarding the research results, the proposed algorithm shows a lot of potentials. The probability of detecting a single drone is 99.8%, and the probability of type identification is 96.1%. Moreover, the results of multiple drones detection demonstrate an average accuracy of 97.3%. There have not been such comprehensive publications, to this time, in the open literature that have presented and enlightened the problem of multiple drones detection in the radio frequency domain. [ABSTRACT FROM AUTHOR]

Recently, artificial neural networks have been widely used for classification. It is important to optimize the weight parameters and topological structure of the neural network simultaneously. These two tasks are interdependent and should be solved at the same time to achieve a better result. However, existing works cannot balance the accuracy and diversity of neural networks very well. In this paper, a cooperative co-evolutionary algorithm is proposed to simultaneously evolve artificial neural network topology, neuron attributes, and connection weights. In the proposed algorithm, two effective strategies are proposed. First, the niche-based strategy is used in the evolutionary and cooperative process to refine the local search ability. In this way, a set of candidate networks with a higher level of output diversity is obtained. Second, a two-step comparison scheme is designed to acquire a compact ensemble network. Moreover, a fully connected weights matrix crossover scheme is used to avoid destroying the network structure. The proposed algorithm is tested on the benchmark classification problems in the UCI machine learning repository and compared with other state-of-the-art methods. The experimental results show that the proposed niche-based cooperative co-evolutionary ensemble neural network has a higher capability of generalization compared with other methods in six of nine kinds of classification problems. Furthermore, the proposed ensemble neural network has relatively low complexity. • A niche-based cooperative co-evolutionary algorithm is developed to evolve ANN. • A fully connected matrix crossover strategy is used to protect the network structure. • A set of networks with different structures can improve the performance of ensemble. [ABSTRACT FROM AUTHOR]