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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: This paper shows the determination of typical load profiles (TLPs) by using Fuzzy C-Means (FCM) clustering and Probability Neural Network (PNN) classification method. Load profiles provide useful information on electricity consumption to both consumers and suppliers. Precise knowledge on consumer''s electricity consumption becomes essential for the suppliers to design tariffs, load balancing, load planning, etc. As for consumers, such knowledge is important for them to keep track of their electricity consumption and to enable them to take part in retail market especially for those who do not have appropriate metering equipment. Hence, an effective, fast and cheap method to obtain load profile has to be developed. Objectives of this paper are to obtain groups of TLPs by using FCM clustering and to assign TLPs using PNN algorithm. One of the main issues in FCM clustering is the determination of optimal number of cluster. This paper proposes optimal number of cluster determination by using Davies-Bouldin index. PNN network is trained to directly allocate the TLPs to the representative groups of consumers. The data used in this project are obtained from Tenaga Nasional Berhad (TNB). [Copyright &y& Elsevier]

Abstract: This paper describes a novel binary classification method named LASCUS that can be applied to uneven datasets and sensitive problems such as malfunction detection. Such method aims at filling the gap left by traditional algorithms which have difficulties when coping with unbalanced datasets and are not able to satisfactorily recognize unfrequent patterns. The proposed method is based on the use of a self organizing map (SOM) and of a fuzzy inference system (FIS). The SOM creates a set of clusters to be associated either to frequent or unfrequent situations while the FIS determines such association on the basis of data distribution. The method has been tested on the widely used benchmarking Wisconsin breast cancer database and on two industrial applications. The obtained results, which are discussed in the paper, are encouraging and in line with expectations. [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]

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]

Abstract: Feature selection and classification techniques have been studied independently without considering the interaction between both procedures, which leads to a degraded performance. In this paper, we present a new neural network approach, which is called an algorithm learning based neural network (ALBNN), to improve classification accuracy by integrating feature selection and classification procedures. In general, a knowledge-based artificial neural network operates on prior knowledge from domain experience, which provides it with better starting points for the target function and leads to better classification accuracy. However, prior knowledge is usually difficult to identify. Instead of using unknown background resources, the proposed method utilizes prior knowledge that is mathematically calculated from the properties of other learning algorithms such as PCA, LARS, C4.5, and SVM. We employ the extreme learning machine in this study to help obtain better initial points faster and avoid irrelevant time-consuming work, such as determining architecture and manual tuning. ALBNN correctly approximates a target hypothesis by both considering the interaction between two procedures and minimizing individual procedure errors. The approach produces new relevant features and improves the classification accuracy. Experimental results exhibit improved performance in various classification problems. ALBNN can be applied to various fields requiring high classification accuracy. [Copyright &y& Elsevier]

Abstract: In this paper we propose a new static, global, supervised, incremental and bottom-up discretization algorithm based on coefficient of dispersion and skewness of data range. It automates the discretization process by introducing the number of intervals and stopping criterion. The results obtained using this discretization algorithm show that the discretization scheme generated by the algorithm almost has minimum number of intervals and requires smallest discretization time. The feedforward neural network with conjugate gradient training algorithm is used to compute the accuracy of classification from the data discretized by this algorithm. The efficiency of the proposed algorithm is shown in terms of better discretization scheme and better accuracy of classification by implementing it on six different real data sets. [Copyright &y& Elsevier]

Abstract: The management of atmospheric pollution using video is not yet widespread. However it is an efficient way to evaluate the polluting rejects coming from large industrial facilities when traditional captors are not usable. This paper presents a comparison of different classifiers for a monitoring system of polluting smokes. The data used in this work are stemming from a system of video analysis and signal processing. The database includes the pollution level of puffs of smoke defined by an expert. Six machine learning techniques are tested and compared to classify the puffs of smoke: k-nearest neighbour, naïve Bayes classifier, artificial neural network, decision tree, support vector machine and a fuzzy model. The parameters of each type of classifier are split into three categories: learned parameters, parameters determined by a first step of the experimentation, and parameters set by the programmer. We compare the results of the best classifier of each type depending on the size of the learning set. A part of the discussion concerns the robustness of the classifier facing the case where classes of interest are under-represented, as the high level of pollution in our data. [Copyright &y& Elsevier]

Abstract: This paper proposes image processing algorithms to recognize five types of white blood cells in peripheral blood automatically. First, a method based on Gram–Schmidt orthogonalization is proposed along with a snake algorithm to segment nucleus and cytoplasm of the cells. Then, a variety of features are extracted from the segmented regions. Next, most discriminative features are selected using a Sequential Forward Selection (SFS) algorithm and performances of two classifiers, Artificial Neural Network (ANN) and Support Vector Machine (SVM), are compared. The results demonstrate that the proposed methods are accurate and sufficiently fast to be used in hematological laboratories. [Copyright &y& Elsevier]

Abstract: Purpose: Extracting comprehensible classification rules is the most emphasized concept in data mining researches. In order to obtain accurate and comprehensible classification rules from databases, a new approach is proposed by combining advantages of artificial neural networks (ANN) and swarm intelligence. Method: Artificial neural networks (ANNs) are a group of very powerful tools applied to prediction, classification and clustering in different domains. The main disadvantage of this general purpose tool is the difficulties in its interpretability and comprehensibility. In order to eliminate these disadvantages, a novel approach is developed to uncover and decode the information hidden in the black-box structure of ANNs. Therefore, in this paper a study on knowledge extraction from trained ANNs for classification problems is carried out. The proposed approach makes use of particle swarm optimization (PSO) algorithm to transform the behaviors of trained ANNs into accurate and comprehensible classification rules. Particle swarm optimization with time varying inertia weight and acceleration coefficients is designed to explore the best attribute-value combination via optimizing ANN output function. Results: The weights hidden in trained ANNs turned into comprehensible classification rule set with higher testing accuracy rates compared to traditional rule based classifiers. [Copyright &y& Elsevier]

Abstract: A novel condensed polynomial neural network using particle swarm optimization (PSO) technique is proposed for the task of classification in this paper. In solving classification task classical algorithms such as polynomial neural network (PNN) and its variants need more computational time as the partial descriptions (PDs) grow over the training period layer-by-layer and make the network very complex. Unlike PNN the proposed network needs to generate the partial description for a single layer. The discrete PSO (DPSO) is used to select a relevant set of PDs as well as features with a hope to get better accuracy, which are in turn fed to the output neuron. The weights associated with the links from hidden to output neuron is optimized by PSO for continuous domain (CPSO). Performance of this model is compared with the results obtained from PNN. Simulation result shows that the performance of this model both in processing time and accuracy, is encouraging for harnessing its power in domain with large and complex data particularly in data mining area. [Copyright &y& Elsevier]

Abstract: This paper presents a procedure to add broader diversity at the beginning of the evolutionary process. It consists of creating two initial populations with different parameter settings, evolving them for a small number of generations, selecting the best individuals from each population in the same proportion and combining them to constitute a new initial population. At this point the main loop of an evolutionary algorithm is applied to the new population. The results show that our proposal considerably improves both the efficiency of previous methodologies and also, significantly, their efficacy in most of the data sets. We have carried out our experimentation on twelve data sets from the UCI repository and two complex real-world problems which differ in their number of instances, features and classes. [Copyright &y& Elsevier]

Abstract: In this paper, a Feature-Extraction Neuron-Fuzzy Classification Model (FENFCM) is proposed that enables the extraction of feature variables and provides the classification results. The proposed classification model synergistically integrates a standard fuzzy inference system and a neural network with supervised learning. The FENFCM automatically generates the fuzzy rules from the numerical data and triangular functions that are used as membership functions both in the feature extraction unit and in the inference unit. To adapt the proposed FENFCM, two modificatory algorithms are applied. First, we utilize Evolutionary Programming (EP) to determine the distribution of fuzzy sets for each feature variable of the feature extraction unit. Second, the Weight Revised Algorithm (WRA) is used to regulate the weight grade of the principal output node of the inference unit. Finally, the proposed FENFCM is validated using two benchmark data sets: the Wine database and the Iris database. Computer simulation results demonstrate that the proposed classification model can provide a sufficiently high classification rate in comparison with that of other models proposed in the literature. [Copyright &y& Elsevier]

Abstract: In this paper, a new hierarchical classification method based on the use of various types of AdaBoost classification algorithms is proposed for automatic classification of marble slab images according to their quality. At first, features are extracted using the sum and difference histograms method and, at the second stage, different versions of the AdaBoost algorithms are used as classifiers together with those extracted features in a proposed hierarchical fashion. Performance of the proposed method is compared against performances of different types of neural network classifiers and a support vector machine (SVM) classifier. Computational results show that the proposed hierarchical structure employing AdaBoost algorithms performs superior to neural networks and the SVM classifier for classifying marble slab images in our large and diversified data set. [ABSTRACT FROM AUTHOR]

Abstract: There are irrelevant features that are redundant or significantly degrade the learning accuracy in the real-world complex classification tasks. This paper presents a new hybrid learning algorithm based on a cooperative coevolutionary algorithm (Co-CEA) with dual populations for designing the radial basis function neural network (RBFNN) models with an explicit feature selection. This approach attempts to complete both the RBFNN construction and the feature selection simultaneously. The proposed algorithm utilizes the Co-CEA’s divide-and-cooperative mechanism, which utilizes the evolutionary algorithms executing in parallel to coevolve subpopulations, corresponding to the hidden layer structure and the dominate features respectively. The algorithm adopts the binary encoding to represent the feature subset and the matrix-form mixed encoding to represent the RBFNN hidden layer structure, and a complete solution is formed via collaborations among the two subpopulations. Experimental results illustrate that the proposed algorithm outperforms other algorithms in references in terms of the classification accuracy, and it is able to obtain both prominent features and good RBFNN structure with higher prediction capability. [Copyright &y& Elsevier]

Abstract: Classification is the process of assigning an object to one of a set of classes based on its attributes. Classification problems have been examined in fields as diverse as biology, medicine, business, image recognition, and forensics. Developing more accurate and widely applicable classification methods has significant implications in these and many other fields. This paper presents a dynamic artificial neural network (DAN2) as an alternate approach for solving classification problems. We show DAN2 to be an effective approach and compare its performance with linear discriminant analysis, quadratic discriminant analysis, k-nearest neighbor algorithms, support vector machines, and traditional artificial neural networks using benchmark and real-world application data sets. These data sets vary in the number of classes (two vs. multiple) and the source of the data (synthetic vs. real-world). We found DAN2 to be a very effective classification method for two-class data sets with accuracy improvements as high as 37.2% when compared to the other methods. We also introduce a hierarchical DAN2 model for multiple class data sets that shows marked improvements (up to 89%) over all other methods, and offers better accuracy in all cases. [Copyright &y& Elsevier]

Abstract: In this paper, a novel use of Kernel–Adatron (K–A) learning algorithm to aid SVM (Support Vector Machine) for ECG arrhythmias classification is proposed. The proposed pattern classifier is compared with MLP (multi-layered perceptron) using back propagation (BP) learning algorithm. The ECG signals taken from MIT-BIH arrhythmia database are used in training to classify 6 different arrhythmia, plus normal ECG. The MLP and SVM training and testing stages were carried out twice. They were first trained only with one ECG lead signal and then a second ECG lead signal was added to the training and testing datasets. The aim was to investigate its influence on training and testing performance (generalization ability) plus time of training for both classifiers. Implementation of these three criteria for evaluation of ECG signals classification will ease the problem of structural comparisons, which has not been given attention in previous research works. The results indicate that SVM in comparison to MLP is much faster in training stage and nearly seven times higher in performance, but MLP generalization ability in terms of mean square error is more than three times less. The proposed SVM method shows considerable improvement in comparison to recently reported results obtained by . [Copyright &y& Elsevier]

This paper presents a method for computing a thesaurus from a text corpus, and combined with a revised back-propagation neural network (BPNN) learning algorithm for document categorization. Automatically constructed thesaurus is a data structure that accomplished by extracting the relatedness between words. Neural network is one of the efficient approaches for document categorization. However the conventional BPNN has the problems of slow learning and easy to involve into the local minimum. We use a revised algorithm to improve the conventional BPNN that can overcome these problems. A well constructed thesaurus has been recognized as valuable tool in the effective operation of document categorization, it overcome some problem for the document categorization based on bag of words which ignored the relationship between words. To investigate the effectiveness of our method, we conducted the experiments on the standard Reuter-21578. The experimental results show that the proposed model was able to achieve higher categorization effectiveness as measured by the precision, recall and F-measure. [Copyright &y& Elsevier]

In this paper, we focus on the experimental analysis on the performance in artificial neural networks with the use of statistical tests on the classification task. Particularly, we have studied whether the sample of results from multiple trials obtained by conventional artificial neural networks and support vector machines checks the necessary conditions for being analyzed through parametrical tests. The study is conducted by considering three possibilities on classification experiments: random variation in the selection of test data, the selection of training data and internal randomness in the learning algorithm. The results obtained state that the fulfillment of these conditions are problem-dependent and indefinite, which justifies the need of using non-parametric statistics in the experimental analysis. [Copyright &y& Elsevier]

• 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]

Abstract: Almost all current training algorithms for neural networks are based on gradient descending technique, which causes long training time. In this paper, we propose a novel fast training algorithm called Fast Constructive-Covering Algorithm (FCCA) for neural network construction based on geometrical expansion. Parameters are updated according to the geometrical location of the training samples in the input space, and each sample in the training set is learned only once. By doing this, FCCA is able to avoid iterative computing and much faster than traditional training algorithms. Given an input sequence in an arbitrary order, FCCA learns “easy” samples first and “confusing” samples are easily learned after these “easy” samples. This sample reordering process is done on the fly based on geometrical concept. In addition, FCCA begins with an empty hidden layer, and adds new hidden neurons when necessary. This constructive learning avoids blind selection of neural network structure. The experimental work for classification problems illustrates the advantages of FCCA, especially in learning speed. [Copyright &y& Elsevier]

Abstract: In this paper, a neural network based online analog modulation recognition of communication signals is presented. The proposed system can discriminate between amplitude modulation (AM), frequency modulation (FM), double sideband (DSB), upper sideband (USB), lower sideband (LSB) and continuous wave (CW) modulations. A matlab graphical user interface (GUI) is designed to see the intercepted signal, its power spectral density, frequency and modulation type on the screen of the personnel computer. To achieve correct classification, extensive simulations have been done for training the neural network. Theoretical simulations and experimental results indicate good performance even at signal-to-noise ratios as low as 5dB. [Copyright &y& Elsevier]