Abstract: Local obstacle avoidance is critical for mobile robot
navigation. It is a challenging task to ensure path optimality and
safety in cluttered environments. We proposed an Environment
Aware Dynamic Window Approach in this paper to cope with
the issue. The method integrates environment characterization into
Dynamic Window Approach (DWA). Two strategies are proposed
in order to achieve the integration. The local goal strategy guides
the robot to move through openings before approaching the final
goal, which solves the local minima problem in DWA. The adaptive
control strategy endows the robot to adjust its state according
to the environment, which addresses path safety compared with
DWA. Besides, the evaluation shows that the path generated from
the proposed algorithm is safer and smoother compared with
state-of-the-art algorithms.
Abstract: Back propagation algorithm (BP) is a widely used
technique in artificial neural network and has been used as a tool
for solving the time series problems, such as decreasing training
time, maximizing the ability to fall into local minima, and optimizing
sensitivity of the initial weights and bias. This paper proposes an
improvement of a BP technique which is called IM-COH algorithm
(IM-COH). By combining IM-COH algorithm with cuckoo search
algorithm (CS), the result is cuckoo search improved control output
hidden layer algorithm (CS-IM-COH). This new algorithm has a
better ability in optimizing sensitivity of the initial weights and bias
than the original BP algorithm. In this research, the algorithm of
CS-IM-COH is compared with the original BP, the IM-COH, and the
original BP with CS (CS-BP). Furthermore, the selected benchmarks,
four time series samples, are shown in this research for illustration.
The research shows that the CS-IM-COH algorithm give the best
forecasting results compared with the selected samples.
Abstract: The traditional k-means algorithm has been widely used as a simple and efficient clustering method. However, the algorithm often converges to local minima for the reason that it is sensitive to the initial cluster centers. In this paper, an algorithm for selecting initial cluster centers on the basis of minimum spanning tree (MST) is presented. The set of vertices in MST with same degree are regarded as a whole which is used to find the skeleton data points. Furthermore, a distance measure between the skeleton data points with consideration of degree and Euclidean distance is presented. Finally, MST-based initialization method for the k-means algorithm is presented, and the corresponding time complexity is analyzed as well. The presented algorithm is tested on five data sets from the UCI Machine Learning Repository. The experimental results illustrate the effectiveness of the presented algorithm compared to three existing initialization methods.
Abstract: Artificial Neural Network (ANN) can be trained using
back propagation (BP). It is the most widely used algorithm for
supervised learning with multi-layered feed-forward networks.
Efficient learning by the BP algorithm is required for many practical
applications. The BP algorithm calculates the weight changes of
artificial neural networks, and a common approach is to use a twoterm
algorithm consisting of a learning rate (LR) and a momentum
factor (MF). The major drawbacks of the two-term BP learning
algorithm are the problems of local minima and slow convergence
speeds, which limit the scope for real-time applications. Recently the
addition of an extra term, called a proportional factor (PF), to the
two-term BP algorithm was proposed. The third increases the speed
of the BP algorithm. However, the PF term also reduces the
convergence of the BP algorithm, and criteria for evaluating
convergence are required to facilitate the application of the three
terms BP algorithm. Although these two seem to be closely related,
as described later, we summarize various improvements to overcome
the drawbacks. Here we compare the different methods of
convergence of the new three-term BP algorithm.
Abstract: Artificial Neural Networks (ANN) trained using backpropagation
(BP) algorithm are commonly used for modeling
material behavior associated with non-linear, complex or unknown
interactions among the material constituents. Despite multidisciplinary
applications of back-propagation neural networks
(BPNN), the BP algorithm possesses the inherent drawback of
getting trapped in local minima and slowly converging to a global
optimum. The paper present a hybrid artificial neural networks and
genetic algorithm approach for modeling slump of ready mix
concrete based on its design mix constituents. Genetic algorithms
(GA) global search is employed for evolving the initial weights and
biases for training of neural networks, which are further fine tuned
using the BP algorithm. The study showed that, hybrid ANN-GA
model provided consistent predictions in comparison to commonly
used BPNN model. In comparison to BPNN model, the hybrid ANNGA
model was able to reach the desired performance goal quickly.
Apart from the modeling slump of ready mix concrete, the synaptic
weights of neural networks were harnessed for analyzing the relative
importance of concrete design mix constituents on the slump value.
The sand and water constituents of the concrete design mix were
found to exhibit maximum importance on the concrete slump value.
Abstract: K-Means (KM) is considered one of the major
algorithms widely used in clustering. However, it still has some
problems, and one of them is in its initialization step where it is
normally done randomly. Another problem for KM is that it
converges to local minima. Genetic algorithms are one of the
evolutionary algorithms inspired from nature and utilized in the field
of clustering. In this paper, we propose two algorithms to solve the
initialization problem, Genetic Algorithm Initializes KM (GAIK) and
KM Initializes Genetic Algorithm (KIGA). To show the effectiveness
and efficiency of our algorithms, a comparative study was done
among GAIK, KIGA, Genetic-based Clustering Algorithm (GCA),
and FCM [19].
Abstract: In this paper an algorithm for fast wavelength calibration of Optical Spectrum Analyzers (OSAs) using low power reference gas spectra is proposed. In existing OSAs a reference spectrum with low noise for precise detection of the reference extreme values is needed. To generate this spectrum costly hardware with high optical power is necessary. With this new wavelength calibration algorithm it is possible to use a noisy reference spectrum and therefore hardware costs can be cut. With this algorithm the reference spectrum is filtered and the key information is extracted by segmenting and finding the local minima and maxima. Afterwards slope and offset of a linear correction function for best matching the measured and theoretical spectra are found by correlating the measured with the stored minima. With this algorithm a reliable wavelength referencing of an OSA can be implemented on a microcontroller with a calculation time of less than one second.
Abstract: In this paper the behavior of the decision feedback
equalizers (DFEs) adapted by the decision-directed or the constant
modulus blind algorithms is presented. An analysis of the error
surface of the corresponding criterion cost functions is first
developed. With the intention of avoiding the ill-convergence of the
algorithm, the paper proposes to modify the shape of the cost
function error surface by using a soft decision instead of the hard
one. This was shown to reduce the influence of false decisions and to
smooth the undesirable minima. Modified algorithms using the soft
decision during a pseudo-training phase with an automatic switch to
the properly tracking phase are then derived. Computer simulations
show that these modified algorithms present better ability to avoid
local minima than conventional ones.
Abstract: This paper presents a novel algorithm for path planning of mobile robots in known 3D environments using Binary Integer Programming (BIP). In this approach the problem of path planning is formulated as a BIP with variables taken from 3D Delaunay Triangulation of the Free Configuration Space and solved to obtain an optimal channel made of connected tetrahedrons. The 3D channel is then partitioned into convex fragments which are used to build safe and short paths within from Start to Goal. The algorithm is simple, complete, does not suffer from local minima, and is applicable to different workspaces with convex and concave polyhedral obstacles. The noticeable feature of this algorithm is that it is simply extendable to n-D Configuration spaces.
Abstract: Economic dispatch problem is an optimization problem where objective function is highly non linear, non-convex, non-differentiable and may have multiple local minima. Therefore, classical optimization methods may not converge or get trapped to any local minima. This paper presents a comparative study of four different evolutionary algorithms i.e. genetic algorithm, bacteria foraging optimization, ant colony optimization and particle swarm optimization for solving the economic dispatch problem. All the methods are tested on IEEE 30 bus test system. Simulation results are presented to show the comparative performance of these methods.
Abstract: All the available algorithms for blind estimation namely constant modulus algorithm (CMA), Decision-Directed Algorithm (DDA/DFE) suffer from the problem of convergence to local minima. Also, if the channel drifts considerably, any DDA looses track of the channel. So, their usage is limited in varying channel conditions. The primary limitation in such cases is the requirement of certain overhead bits in the transmit framework which leads to wasteful use of the bandwidth. Also such arrangements fail to use channel state information (CSI) which is an important aid in improving the quality of reception. In this work, the main objective is to reduce the overhead imposed by the pilot symbols, which in effect reduces the system throughput. Also we formulate an arrangement based on certain dynamic Artificial Neural Network (ANN) topologies which not only contributes towards the lowering of the overhead but also facilitates the use of the CSI. A 2×2 Multiple Input Multiple Output (MIMO) system is simulated and the performance variation with different channel estimation schemes are evaluated. A new semi blind approach based on dynamic ANN is proposed for channel tracking in varying channel conditions and the performance is compared with perfectly known CSI and least square (LS) based estimation.
Abstract: This paper is concerned with an improved algorithm
based on the piecewise-smooth Mumford and Shah (MS) functional
for an efficient and reliable segmentation. In order to speed up
convergence, an additional force, at each time step, is introduced
further to drive the evolution of the curves instead of only driven by
the extensions of the complementary functions u + and u - . In our
scheme, furthermore, the piecewise-constant MS functional is
integrated to generate the extra force based on a temporary image that
is dynamically created by computing the union of u + and u - during
segmenting. Therefore, some drawbacks of the original algorithm,
such as smaller objects generated by noise and local minimal problem
also are eliminated or improved. The resulting algorithm has been
implemented in Matlab and Visual Cµ, and demonstrated efficiently
by several cases.
Abstract: The main goal of this work is to propose a way for
combined use of two nontraditional algorithms by solving topological
problems on telecommunications concentrator networks. The
algorithms suggested are the Simulated Annealing algorithm and the
Genetic Algorithm. The Algorithm of Simulated Annealing unifies
the well known local search algorithms. In addition - Simulated
Annealing allows acceptation of moves in the search space witch lead
to decisions with higher cost in order to attempt to overcome any
local minima obtained. The Genetic Algorithm is a heuristic approach
witch is being used in wide areas of optimization works. In the last
years this approach is also widely implemented in
Telecommunications Networks Planning. In order to solve less or
more complex planning problem it is important to find the most
appropriate parameters for initializing the function of the algorithm.
Abstract: Clustering is a very well known technique in data mining. One of the most widely used clustering techniques is the kmeans algorithm. Solutions obtained from this technique depend on the initialization of cluster centers and the final solution converges to local minima. In order to overcome K-means algorithm shortcomings, this paper proposes a hybrid evolutionary algorithm based on the combination of PSO, SA and K-means algorithms, called PSO-SA-K, which can find better cluster partition. The performance is evaluated through several benchmark data sets. The simulation results show that the proposed algorithm outperforms previous approaches, such as PSO, SA and K-means for partitional clustering problem.
Abstract: The back propagation algorithm calculates the weight
changes of artificial neural networks, and a common approach is to
use a training algorithm consisting of a learning rate and a
momentum factor. The major drawbacks of above learning algorithm
are the problems of local minima and slow convergence speeds. The
addition of an extra term, called a proportional factor reduces the
convergence of the back propagation algorithm. We have applied the
three term back propagation to multiplicative neural network
learning. The algorithm is tested on XOR and parity problem and
compared with the standard back propagation training algorithm.
Abstract: This paper presents a new sensor-based online method for generating collision-free near-optimal paths for mobile robots pursuing a moving target amidst dynamic and static obstacles. At each iteration, first the set of all collision-free directions are calculated using velocity vectors of the robot relative to each obstacle and target, forming the Directive Circle (DC), which is a novel concept. Then, a direction close to the shortest path to the target is selected from feasible directions in DC. The DC prevents the robot from being trapped in deadlocks or local minima. It is assumed that the target's velocity is known, while the speeds of dynamic obstacles, as well as the locations of static obstacles, are to be calculated online. Extensive simulations and experimental results demonstrated the efficiency of the proposed method and its success in coping with complex environments and obstacles.