Abstract: In this paper, an observer-based direct adaptive fuzzy sliding mode (OAFSM) algorithm is proposed. In the proposed algorithm, the zero-input dynamics of the plant could be unknown. The input connection matrix is used to combine the sliding surfaces of individual subsystems, and an adaptive fuzzy algorithm is used to estimate an equivalent sliding mode control input directly. The fuzzy membership functions, which were determined by time consuming try and error processes in previous works, are adjusted by adaptive algorithms. The other advantage of the proposed controller is that the input gain matrix is not limited to be diagonal, i.e. the plant could be over/under actuated provided that controllability and observability are preserved. An observer is constructed to directly estimate the state tracking error, and the nonlinear part of the observer is constructed by an adaptive fuzzy algorithm. The main advantage of the proposed observer is that, the measured outputs is not limited to the first entry of a canonical-form state vector. The closed-loop stability of the proposed method is proved using a Lyapunov-based approach. The proposed method is applied numerically on a multi-link robot manipulator, which verifies the performance of the closed-loop control. Moreover, the performance of the proposed algorithm is compared with some conventional control algorithms.
Abstract: Missing values in real-world datasets are a common
problem. Many algorithms were developed to deal with this
problem, most of them replace the missing values with a fixed
value that was computed based on the observed values. In
our work, we used a distance function based on Bhattacharyya
distance to measure the distance between objects with missing
values. Bhattacharyya distance, which measures the similarity of
two probability distributions. The proposed distance distinguishes
between known and unknown values. Where the distance between
two known values is the Mahalanobis distance. When, on the other
hand, one of them is missing the distance is computed based on the
distribution of the known values, for the coordinate that contains
the missing value. This method was integrated with Wikaya, a
digital health company developing a platform that helps to improve
prevention of chronic diseases such as diabetes and cancer. In order
for Wikaya’s recommendation system to work distance between users
need to be measured. Since there are missing values in the collected
data, there is a need to develop a distance function distances between
incomplete users profiles. To evaluate the accuracy of the proposed
distance function in reflecting the actual similarity between different
objects, when some of them contain missing values, we integrated it
within the framework of k nearest neighbors (kNN) classifier, since
its computation is based only on the similarity between objects. To
validate this, we ran the algorithm over diabetes and breast cancer
datasets, standard benchmark datasets from the UCI repository. Our
experiments show that kNN classifier using our proposed distance
function outperforms the kNN using other existing methods.
Abstract: Cardiologists perform cardiac auscultation to detect
abnormalities in heart sounds. Since accurate auscultation is
a crucial first step in screening patients with heart diseases,
there is a need to develop computer-aided detection/diagnosis
(CAD) systems to assist cardiologists in interpreting heart sounds
and provide second opinions. In this paper different algorithms
are implemented for automated heart sound classification using
unsegmented phonocardiogram (PCG) signals. Support vector
machine (SVM), artificial neural network (ANN) and cartesian
genetic programming evolved artificial neural network (CGPANN)
without the application of any segmentation algorithm has been
explored in this study. The signals are first pre-processed to remove
any unwanted frequencies. Both time and frequency domain features
are then extracted for training the different models. The different
algorithms are tested in multiple scenarios and their strengths and
weaknesses are discussed. Results indicate that SVM outperforms
the rest with an accuracy of 73.64%.
Abstract: Hierarchical classification is a special type of classification task where the class labels are organised into a hierarchy, with more generic class labels being ancestors of more specific ones. Meta-learning for classification-algorithm recommendation consists of recommending to the user a classification algorithm, from a pool of candidate algorithms, for a dataset, based on the past performance of the candidate algorithms in other datasets. Meta-learning is normally used in conventional, non-hierarchical classification. By contrast, this paper proposes a meta-learning approach for more challenging task of hierarchical classification, and evaluates it in a large number of bioinformatics datasets. Hierarchical classification is especially relevant for bioinformatics problems, as protein and gene functions tend to be organised into a hierarchy of class labels. This work proposes meta-learning approach for
recommending the best hierarchical classification algorithm to a
hierarchical classification dataset. This work’s contributions are: 1)
proposing an algorithm for splitting hierarchical datasets into
new datasets to increase the number of meta-instances, 2) proposing
meta-features for hierarchical classification, and 3) interpreting
decision-tree meta-models for hierarchical classification algorithm
recommendation.
Abstract: Security of context-aware ubiquitous systems is
paramount, and authentication plays an important aspect in cloud
computing and ubiquitous computing. Trust management has been
identified as vital component for establishing and maintaining
successful relational exchanges between trading partners in cloud
and ubiquitous systems. Establishing trust is the way to build good
relationship with both client and provider which positive activates will
increase trust level, otherwise destroy trust immediately. We propose
a new context-aware authentication system using a trust management
system between client and server, and between servers, a trust which
induces partnership, thus to a close cooperation between these servers.
We defined the rules (algorithms), as well as the formulas to manage
and calculate the trusting degrees depending on context, in order to
uniquely authenticate a user, thus a single sign-on, and to provide
him better services.
Abstract: Load forecasting has become crucial in recent years
and become popular in forecasting area. Many different power
forecasting models have been tried out for this purpose. Electricity
load forecasting is necessary for energy policies, healthy and reliable
grid systems. Effective power forecasting of renewable energy load
leads the decision makers to minimize the costs of electric utilities
and power plants. Forecasting tools are required that can be used
to predict how much renewable energy can be utilized. The purpose
of this study is to explore the effectiveness of LSTM-based neural
networks for estimating renewable energy loads. In this study, we
present models for predicting renewable energy loads based on
deep neural networks, especially the Long Term Memory (LSTM)
algorithms. Deep learning allows multiple layers of models to learn
representation of data. LSTM algorithms are able to store information
for long periods of time. Deep learning models have recently been
used to forecast the renewable energy sources such as predicting
wind and solar energy power. Historical load and weather information
represent the most important variables for the inputs within the
power forecasting models. The dataset contained power consumption
measurements are gathered between January 2016 and December
2017 with one-hour resolution. Models use publicly available data
from the Turkish Renewable Energy Resources Support Mechanism.
Forecasting studies have been carried out with these data via deep
neural networks approach including LSTM technique for Turkish
electricity markets. 432 different models are created by changing
layers cell count and dropout. The adaptive moment estimation
(ADAM) algorithm is used for training as a gradient-based optimizer
instead of SGD (stochastic gradient). ADAM performed better than
SGD in terms of faster convergence and lower error rates. Models
performance is compared according to MAE (Mean Absolute Error)
and MSE (Mean Squared Error). Best five MAE results out of
432 tested models are 0.66, 0.74, 0.85 and 1.09. The forecasting
performance of the proposed LSTM models gives successful results
compared to literature searches.
Abstract: The current study couples a quasi-steady Vortex Lattice
Method and a camber correcting technique, ‘Decambering’ for
unsteady post-stall flow prediction. The wake is force-free and
discrete such that the wake lattices move with the free-stream once
shed from the wing. It is observed that the time-averaged unsteady
coefficient of lift sees a relative drop at post-stall angles of attack
in comparison to its steady counterpart for some angles of attack.
Multiple solutions occur at post-stall and three different algorithms
to choose solutions in these regimes show both unsteadiness and
non-convergence of the iterations. The distribution of coefficient of
lift on the wing span also shows sawtooth. Distribution of vorticity
changes both along span and in the direction of the free-stream as
the wake develops over time with distinct roll-up, which increases
with time.
Abstract: Aiming at the verification of control algorithms for skid-steering vehicles, a vehicle simulation model of 6×6 electric skid-steering unmanned vehicle was established based on Trucksim and Simulink. The original transmission and steering mechanism of Trucksim are removed, and the electric skid-steering model and a closed-loop controller for the vehicle speed and yaw rate are built in Simulink. The simulation results are compared with the ones got by theoretical formulas. The results show that the predicted tire mechanics and vehicle kinematics of Trucksim-Simulink simulation model are closed to the theoretical results. Therefore, it can be used as an effective approach to study the dynamic performance and control algorithm of skid-steering vehicle. In this paper, a method of motion control based on feed forward control is also designed. The simulation results show that the feed forward control strategy can make the vehicle follow the target yaw rate more quickly and accurately, which makes the vehicle have more maneuverability.
Abstract: Autonomous mobile robots (AMR) are expected as smart tools for operations in every automation industry. Path planning and obstacle avoidance is the backbone of AMR as robots have to reach their goal location avoiding obstacles while traversing through optimized path defined according to some criteria such as distance, time or energy. Path planning can be classified into global and local path planning where environmental information is known and unknown/partially known, respectively. A number of sensors are used for data collection. A number of algorithms such as artificial potential field (APF), rapidly exploring random trees (RRT), bidirectional RRT, Fuzzy approach, Purepursuit, A* algorithm, vector field histogram (VFH) and modified local path planning algorithm, etc. have been used in the last three decades for path planning and obstacle avoidance for AMR. This paper makes an attempt to review some of the path planning and obstacle avoidance algorithms used in the field of AMR. The review includes comparative analysis of simulation and mathematical computations of path planning and obstacle avoidance algorithms using MATLAB 2018a. From the review, it could be concluded that different algorithms may complete the same task (i.e. with a different set of instructions) in less or more time, space, effort, etc.
Abstract: Hand gesture recognition is a technique used to locate, detect, and recognize a hand gesture. Detection and recognition are concepts of Artificial Intelligence (AI). AI concepts are applicable in Human Computer Interaction (HCI), Expert systems (ES), etc. Hand gesture recognition can be used in sign language interpretation. Sign language is a visual communication tool. This tool is used mostly by deaf societies and those with speech disorder. Communication barriers exist when societies with speech disorder interact with others. This research aims to build a hand recognition system for Lesotho’s Sesotho and English language interpretation. The system will help to bridge the communication problems encountered by the mentioned societies. The system has various processing modules. The modules consist of a hand detection engine, image processing engine, feature extraction, and sign recognition. Detection is a process of identifying an object. The proposed system uses Canny pruning Haar and Haarcascade detection algorithms. Canny pruning implements the Canny edge detection. This is an optimal image processing algorithm. It is used to detect edges of an object. The system employs a skin detection algorithm. The skin detection performs background subtraction, computes the convex hull, and the centroid to assist in the detection process. Recognition is a process of gesture classification. Template matching classifies each hand gesture in real-time. The system was tested using various experiments. The results obtained show that time, distance, and light are factors that affect the rate of detection and ultimately recognition. Detection rate is directly proportional to the distance of the hand from the camera. Different lighting conditions were considered. The more the light intensity, the faster the detection rate. Based on the results obtained from this research, the applied methodologies are efficient and provide a plausible solution towards a light-weight, inexpensive system which can be used for sign language interpretation.
Abstract: All currencies around the world look very different from each other. For instance, the size, color, and pattern of the paper are different. With the development of modern banking services, automatic methods for paper currency recognition become important in many applications like vending machines. One of the currency recognition architecture’s phases is Feature detection and description. There are many algorithms that are used for this phase, but they still have some disadvantages. This paper proposes a feature detection algorithm, which merges the advantages given in the current SIFT and SURF algorithms, which we call, Speeded up Robust Scale-Invariant Feature Transform (SR-SIFT) algorithm. Our proposed SR-SIFT algorithm overcomes the problems of both the SIFT and SURF algorithms. The proposed algorithm aims to speed up the SIFT feature detection algorithm and keep it robust. Simulation results demonstrate that the proposed SR-SIFT algorithm decreases the average response time, especially in small and minimum number of best key points, increases the distribution of the number of best key points on the surface of the currency. Furthermore, the proposed algorithm increases the accuracy of the true best point distribution inside the currency edge than the other two algorithms.
Abstract: In this paper, a mixed integer linear programming (MILP) model is presented to solve the flexible job shop scheduling problem (FJSP). This problem is one of the hardest combinatorial problems. The objective considered is the minimization of the makespan. The computational results of the proposed MILP model were compared with those of the best known mathematical model in the literature in terms of the computational time. The results show that our model has better performance with respect to all the considered performance measures including relative percentage deviation (RPD) value, number of constraints, and total number of variables. By this improved mathematical model, larger FJS problems can be optimally solved in reasonable time, and therefore, the model would be a better tool for the performance evaluation of the approximation algorithms developed for the problem.
Abstract: Image retrieval is the most interesting technique which is being used today in our digital world. CBIR, commonly expanded as Content Based Image Retrieval is an image processing technique which identifies the relevant images and retrieves them based on the patterns that are extracted from the digital images. In this paper, two research works have been presented using CBIR. The first work provides an automated and interactive approach to the analysis of CBIR techniques. CBIR works on the principle of supervised machine learning which involves feature selection followed by training and testing phase applied on a classifier in order to perform prediction. By using feature extraction, the image transforms such as Contourlet, Ridgelet and Shearlet could be utilized to retrieve the texture features from the images. The features extracted are used to train and build a classifier using the classification algorithms such as Naïve Bayes, K-Nearest Neighbour and Multi-class Support Vector Machine. Further the testing phase involves prediction which predicts the new input image using the trained classifier and label them from one of the four classes namely 1- Normal brain, 2- Benign tumour, 3- Malignant tumour and 4- Severe tumour. The second research work includes developing a tool which is used for tumour stage identification using the best feature extraction and classifier identified from the first work. Finally, the tool will be used to predict tumour stage and provide suggestions based on the stage of tumour identified by the system. This paper presents these two approaches which is a contribution to the medical field for giving better retrieval performance and for tumour stages identification.
Abstract: This work compares the results of multidimensional
function approximation using two algorithms: the classical Particle
Swarm Optimization (PSO) and the Quantum Particle Swarm
Optimization (QPSO). These algorithms were both tested on three
functions - The Rosenbrock, the Rastrigin, and the sphere functions
- with different characteristics by increasing their number of
dimensions. As a result, this study shows that the higher the function
space, i.e. the larger the function dimension, the more evident the
advantages of using the QPSO method compared to the PSO method
in terms of performance and number of necessary iterations to reach
the stop criterion.
Abstract: Crude oil market is an immensely complex and dynamic environment and thus the task of predicting changes in such an environment becomes challenging with regards to its accuracy. A number of approaches have been adopted to take on that challenge and machine learning has been at the core in many of them. There are plenty of examples of algorithms based on machine learning yielding satisfactory results for such type of prediction. In this paper, we have tried to predict crude oil prices using Long Short-Term Memory (LSTM) based recurrent neural networks. We have tried to experiment with different types of models using different epochs, lookbacks and other tuning methods. The results obtained are promising and presented a reasonably accurate prediction for the price of crude oil in near future.
Abstract: This work reports about an approach for an automatic adaptation of concrete formulations based on genetic algorithms (GA) to optimize a wide range of different fit-functions. In order to achieve the goal, a method was developed which provides a numerical description of a fibre reinforced concrete (FRC) mixture regarding the production technology and the property spectrum of the concrete. In a first step, the FRC mixture with seven fixed components was characterized by varying amounts of the components. For that purpose, ten concrete mixtures were prepared and tested. The testing procedure comprised flow spread, compressive and bending tensile strength. The analysis and approximation of the determined data was carried out by GAs. The aim was to obtain a closed mathematical expression which best describes the given seven-point cloud of FRC by applying a Gene Expression Programming with Free Coefficients (GEP-FC) strategy. The seven-parametric FRC-mixtures model which is generated according to this method correlated well with the measured data. The developed procedure can be used for concrete mixtures finding closed mathematical expressions, which are based on the measured data.
Abstract: In the past, the quay crane operations have been well studied. There were a certain number of scheduling algorithms for quay crane operations, but without considering some nuisance factors that might disrupt the quay crane operations. For example, bad grapples make a crane unable to load or unload containers or a sudden strong breeze stops operations temporarily. Although these disruptive conditions randomly occur, they influence the efficiency of quay crane operations. The disruption is not considered in the operational procedures nor is evaluated in advance for its impacts. This study applies simulation and optimization approaches to develop structures of pre-analysis and post-analysis for the Quay Crane Scheduling Problem to deal with disruptive scenarios for quay crane operation. Numerical experiments are used for demonstrations for the validity of the developed approaches.
Abstract: Increasing quality requirements make reliable and effective quality management indispensable. This includes the complaint handling in which the 8D method is widely used. The 8D report as a written documentation of the 8D method is one of the key quality documents as it internally secures the quality standards and acts as a communication medium to the customer. In practice, however, the 8D report is mostly faulty and of poor quality. There is no quality control of 8D reports today. This paper describes the use of natural language processing for the automated evaluation of 8D reports. Based on semantic analysis and text-mining algorithms the presented system is able to uncover content and formal quality deficiencies and thus increases the quality of the complaint processing in the long term.
Abstract: Even though past, current and future trends suggest that multicore and cloud computing systems are increasingly prevalent/ubiquitous, this class of parallel systems is nonetheless underutilized, in general, and barely used for research on employing parallel Delaunay triangulation for parallel surface modeling and generation, in particular. The performances, of actual/physical and virtual/cloud multicore systems/machines, at executing various algorithms, which implement various parallelization strategies of the incremental insertion technique of the Delaunay triangulation algorithm, were evaluated. T-tests were run on the data collected, in order to determine whether various performance metrics differences (including execution time, speedup and efficiency) were statistically significant. Results show that the actual machine is approximately twice faster than the virtual machine at executing the same programs for the various parallelization strategies. Results, which furnish the scalability behaviors of the various parallelization strategies, also show that some of the differences between the performances of these systems, during different runs of the algorithms on the systems, were statistically significant. A few pseudo superlinear speedup results, which were computed from the raw data collected, are not true superlinear speedup values. These pseudo superlinear speedup values, which arise as a result of one way of computing speedups, disappear and give way to asymmetric speedups, which are the accurate kind of speedups that occur in the experiments performed.
Abstract: In today’s scenario, the complexity of digital signal processing (DSP) applications and various microcontroller architectures have been increasing to such an extent that the traditional approaches to multiplier design in most processors are becoming outdated for being comparatively slow. Modern processing applications require suitable pipelined approaches, and therefore, algorithms that are friendlier with pipelined architectures. Traditional algorithms like Wallace Tree, Radix-4 Booth, Radix-8 Booth, Dadda architectures have been proven to be comparatively slow for pipelined architectures. These architectures, therefore, need to be optimized or combined with other architectures amongst them to enhance its performances and to be made suitable for pipelined hardware/architectures. Recently, Vedic algorithm mathematically has proven to be efficient by appearing to be less complex and with fewer steps for its output establishment and have assumed renewed importance. This paper describes and shows how the Vedic algorithm can be better suited for pipelined architectures and also can be combined with traditional architectures and algorithms for enhancing its ability even further. In this paper, we also established that for complex applications on DSP and other microcontroller architectures, using Vedic approach for multiplication proves to be the best available and efficient option.