Search

It is an essential issue for mobile robots to reach the target points with optimum cost which can be minimum duration or minimum fuel, depending on the problem. In this paper, it was aimed to develop a software for the optimal path planning of mobile robots in user-defined two-dimensional environments with static obstacles and to analyze the performance of some optimization algorithms for this problem using this software. The developed software is designed to create obstacles of different shapes and sizes in the work area and to find the shortest path for the robot using the selected optimization algorithm. Particle Swarm Optimization (PSO), Artificial Bee Colony (ABC) and Genetic Algorithm (GA) were implemented in the software. These algorithms have been tested for optimum path planning in four models with different problem sizes and different difficulty levels. When the results are evaluated, it is observed that the ABC algorithm gives better results than other algorithms in terms of the shortest distance. With this study, the use of optimization algorithms in real-time path planning of land mobile robots or unmanned aerial vehicles can be simulated.

The great improvement in the current technology, particularly in the field of artificial intelligence, has effectively contributed to solving many problems, especially in the medical field. More recently, skin cancer (melanoma) has become one of the most dangerous cancers threatening human life, although it can be treated more frequently at early detection. Unfortunately, only highly-trained specialists can diagnose the disease accurately. Therefore, in this paper we have introduced various software technologies to detect and diagnose skin cancer through images, thus saving lives and reducing the spread of the disease, as well as reducing unnecessary traditional eradication of non-carcinogenic areas. Our method combines image processing techniques (image enhancement, hair removal and segmentation using Otsu's thresholding), feature extraction techniques (Gray Level Co-Occurrence Matrix (GLCM) features and color moments features) and commonly used classification methods, such as Weighted KNN, Cubic SVM, Medium Gaussian SVM, and Multi-Layer Perceptron (MLP) trained by some of the common swarm intelligent techniques like Artificial Bee Colony (ABC), Genetic Algorithm (GA), Particle Swarm Optimization (PSO), Teaching Learning Based Artificial Bee Colony (TLABC), and Modified Teaching Learning Based Artificial Bee Colony (MTLABC) which is the proposed algorithm in this paper. Experimental results for 996 dermoscopy dataset images, show that the classification accuracy and the convergence of the trained Neural Network (NN) using the proposed MTLABC is better than the other evolutionary algorithms used in this study for the same purpose. At the same time, the experimental results show that the classification accuracy of the trained NN using the proposed MTLABC is better than the results of commonly used classification methods.

Using Wi-Fi signal strengthfor detecting objects in an indoor environment has different types ofapplications, such as, locating perpetrator in finite areas, and detecting thenumber of users on an access point. In this work, we propose a hybridoptimization algorithm to train training Multi-Layer Perceptron Neural Network thatcould be distributed in monitoring and tracking devices used for determiningthe location of users based on the Wi-Fi signal strength which their personaldevices receive. This hybrid algorithm combines Artificial Bee Colony (ABC) andLevy Flight (LF) algorithm, called ABCLF. ABCLF increases the exploration andexploitation capabilities of ABC so that it can be used efficiency for thepurpose of training Multi-Layer Perceptron “MLP” Neural Network. The proposedABCLF algorithm guarantees the enhancing of accuracy with the increasing in iterations because it hasthe powerfull of the frame work of Artificial Bee Colony algorithm “threephases whith different strategies of searching” and the powerfull of the LevyFlight local search algorithm which has been used in both onlooker bee phase with a short step size walk to guarantee the enhancing in theexploitation and in scout bee phase with a long step size walk to guarantee the enhancing inthe exploration. The results of ourstudy show that the classification accuracy of the trained neural network usingABCLF is better than the other evolutionary algorithms used in this study forthe same purpose like ABC, Genetic Algorithm (GA), Biogeography-BasedOptimization (BBO), Probability Based Incremental Learning (PBIL) and ParticleSwarm Optimization (PSO)., Using Wi-Fi signal strength for detecting objects in an indoor environment has different types of applications, such as, locating perpetrator in finite areas, and detecting the number of users on an access point. In this work, we propose a hybrid optimization algorithm to train training Multi-Layer Perceptron Neural Network that could be distributed in monitoring and tracking devices used for determining the location of users based on the Wi-Fi signal strength which their personal devices receive. This hybrid algorithm combines Artificial Bee Colony (ABC) and Levy Flight (LF) algorithm, called ABCLF. ABCLF increases the exploration and exploitation capabilities of ABC so that it can be used efficiency for the purpose of training Multi-Layer Perceptron “MLP” Neural Network. The proposed ABCLF algorithm guarantees the enhancing of accuracy with the increasing in iterations because it has the powerfull of the frame work of Artificial Bee Colony algorithm “three phases whith different strategies of searching” and the powerfull of the Levy Flight local search algorithm which has been used in both onlooker bee phase with a short step size walk to guarantee the enhancing in the exploitation and in scout bee phase with a long step size walk to guarantee the enhancing in the exploration. The results of our study show that the classification accuracy of the trained neural network using ABCLF is better than the other evolutionary algorithms used in this study for the same purpose like ABC, Genetic Algorithm (GA), Biogeography-Based Optimization (BBO), Probability Based Incremental Learning (PBIL) and Particle Swarm Optimization (PSO).

Url:http://sujest.selcuk.edu.tr/sumbtd/article/view/489 DOI: 10.15317/Scitech.2018.127, We consider the problem of accurate in-body ranging for localization of a wireless capsule endoscope utilizing ultra-wide band (UWB) signaling. In this context, we explore the joint use of neural network structures and learning algorithms based on metaheuristics, an example of which is particle swarm optimization (PSO). The contributions of this paper are three-fold. First, we undertake a systematic performance analysis of the PSO technique for UWB-based in-body ranging and propose an improved version of the PSO algorithm. Second, we quantitatively compare the performance of PSO techniques against more traditional learning algorithms, such as Bayesian Regularization, Levenberg-Marquardt and Single Conjugate Gradient. Third, we quantify the impact of activation functions used to define the neural network structure on performance. Our results indicate that PSO-based techniques can outperform traditional techniques by as much as 44%, depending on the activation functions used in the neural network., Bu makalede, ultra geniş bant (UWB) sinyalleri kullanan bir kablosuz kapsül endoskopunun lokalizasyonu için hassas vücut içi mesafe ölçümü problemi ele alınmaktadır. Bu bağlamda, yapay sinir ağları ve metaheuristik temelli öğrenme algoritmalarının (örnek olarak parçacık sürüsü optimizasyonu (PSO) ortak kullanımı irdelenmektedir. Makalenin literatüre katkıları şu şekilde özetlenebilir. İlk olarak, UWB tabanlı vücut içi mesafe ölçümü için PSO algoritmasının sistematik bir performans analizi yapılmış ve söz konusu problemin çözümü için PSO algoritmasının geliştirilmiş bir versiyonu önerilmiştir. İkinci olarak, önerilen PSO algoritmasının performansı Bayesian Regularization, Levenberg-Marquardt ve Single Conjugate Gradient gibi geleneksel öğrenme algoritmaları ile karşılaştırılmıştır. Son olarak, yapay sinir ağlarında kullanılan aktivasyon fonksiyonlarının performans üzerindeki etkileri incelenmiştir. Elde edilen sonuçlar, önerilen PSO algoritması vasıtası ile geleneksel tekniklere nazaran % 44’e varan performans artışları elde edilebileceğini göstermektedir

Despite the efficiency of evolutionary algorithms is prominent for large scale problems, their running times in terms of CPU time are quite large. Multi processing units served by recent hardware developments can be employed to overcome this drawback reducing the running time and sharing the total workload. However, evolutionary algorithms cannot be directly distributed to processing units due to their cooperative working models. These models need to be modified to be able to run them on distributed environments without causing deterioration in performance. In this study, a detailed performance analysis of a parallel model for the artificial bee colony algorithm, which is one of the recently developed swarm based evolutionary algorithms and a promising numerical optimization tool, is proposed. For this purpose large-scale benchmark problems are solved by the proposed model and also its original sequential counterpart model. The model is also applied to a real-world problem: training of neural networks for classification purposes. Comparative results show that the artificial bee colony algorithm is very suitable to use in parallel architectures since it has the ability to produce high quality solutions with small populations due to its perturbation operator. The proposed model decreases the running time in addition to improving the performance and convergence rate of the algorithm. It can be said that the speedup gained over its sequential counterpart is almost linear. (C) 2013 Elsevier Inc. All rights reserved.