Search results for: quantum evolutionary algorithm.

Authors: Fei Xue, Hong Yu, Da-da Wang, Wei Zhang, Rong-min Zou, Xiao-lanCai

Abstract:

The X-ray technology has been used in non-destructive evaluation in the Power System, in which a visual non-destructive inspection method for the electrical equipment is provided. However, lots of noise is existed in the images that are got from the X-ray digital images equipment. Therefore, the auto defect detection which based on these images will be very difficult to proceed. A theory on X-ray image de-noising algorithm based on wavelet transform is proposed in this paper. Then the edge detection algorithm is used so that the defect can be pushed out. The result of experiment shows that the method which utilized by this paper is very useful for de-noising on the X-ray images.

Keywords: de-noising, edge detection, wavelet transform, X-ray

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Authors: S. Panda, J. S. Yadav, N. P. Patidar, C. Ardil

Abstract:

Recently, genetic algorithms (GA) and particle swarm optimization (PSO) technique have attracted considerable attention among various modern heuristic optimization techniques. The GA has been popular in academia and the industry mainly because of its intuitiveness, ease of implementation, and the ability to effectively solve highly non-linear, mixed integer optimization problems that are typical of complex engineering systems. PSO technique is a relatively recent heuristic search method whose mechanics are inspired by the swarming or collaborative behavior of biological populations. In this paper both PSO and GA optimization are employed for finding stable reduced order models of single-input- single-output large-scale linear systems. Both the techniques guarantee stability of reduced order model if the original high order model is stable. PSO method is based on the minimization of the Integral Squared Error (ISE) between the transient responses of original higher order model and the reduced order model pertaining to a unit step input. Both the methods are illustrated through numerical example from literature and the results are compared with recently published conventional model reduction technique.

Keywords: Genetic Algorithm, Particle Swarm Optimization, Order Reduction, Stability, Transfer Function, Integral Squared Error.

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Authors: Totok R. Biyanto, Sonny Irawan, Hiskia J. Ginting, Matradji, Ya’umar, A. I. Fitri

Abstract:

Steam injection is the most suitable of Enhanced Oil Recovery (EOR) methods to recover high viscosity oil. This is due to the capabilities of steam to reduce oil viscosity and increase the sweep capability of oil from the injection well toward the production well. Oil operating conditions in production should be match well with the operating condition target at the bottom of the production well. It is influenced by oil properties and reservoir rock properties. Hence, the operating condition should be optimized. Optimization requires three components i.e., objective function, model, and optimization technique. In this paper, the objective function is to obtain the optimum operating condition at the production well. The model was built using Darcy equation and mass-energy balance. The optimization technique utilizes Duelist Algorithm due to the effectiveness of its algorithm to obtain the desirable optimization results at the optimum operating condition.

Keywords: Enhanced oil recovery, steam injection, operating conditions, modeling, optimization, Duelist algorithm.

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Authors: Jay Singh, Kalyan Chatterjee, C. B. Vishwakarma

Abstract:

A mixed method by combining a Eigen algorithm and improved pade approximations is proposed for reducing the order of the large-scale dynamic systems. The most dominant Eigen value of both original and reduced order systems remain same in this method. The proposed method guarantees stability of the reduced model if the original high-order system is stable and is comparable in quality with the other well known existing order reduction methods. The superiority of the proposed method is shown through examples taken from the literature.

Keywords: Eigen algorithm, Order reduction, improved pade approximations, Stability, Transfer function.

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Authors: S.Aranganayagi, K.Thangavel

Abstract:

Clustering categorical data is more complicated than the numerical clustering because of its special properties. Scalability and memory constraint is the challenging problem in clustering large data set. This paper presents an incremental algorithm to cluster the categorical data. Frequencies of attribute values contribute much in clustering similar categorical objects. In this paper we propose new similarity measures based on the frequencies of attribute values and its cardinalities. The proposed measures and the algorithm are experimented with the data sets from UCI data repository. Results prove that the proposed method generates better clusters than the existing one.

Keywords: Clustering, Categorical, Incremental, Frequency, Domain

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Authors: Sarra Senhadji, Imene Benzeguimi, Zohra Yagoub

Abstract:

Big Data represents the recent technology of manipulating voluminous and unstructured data sets over multiple sources. Therefore, NOSQL appears to handle the problem of unstructured data. Association rules mining is one of the popular techniques of data mining to extract hidden relationship from transactional databases. The algorithm for finding association dependencies is well-solved with Map Reduce. The goal of our work is to reduce the time of generating of frequent itemsets by using Map Reduce and NOSQL database oriented document. A comparative study is given to evaluate the performances of our algorithm with the classical algorithm Apriori.

Keywords: Apriori, Association rules mining, Big Data, data mining, Hadoop, Map Reduce, MongoDB, NoSQL.

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Authors: Yong-JuJeon, Doo-chul Choi, Jong Pil Yun, Changhyun Park, Homoon Bae, Sang Woo Kim

Abstract:

This paper presents an automated inspection algorithm for a thick plate. Thick plates typically have various types of surface defects, such as scabs, scratches, and roller marks. These defects have individual characteristics including brightness and shape. Therefore, it is not simple to detect all the defects. In order to solve these problems and to detect defects more effectively, we propose a dual light switching lighting method and a defect detection algorithm based on Gabor filters.

Keywords: Thick plate, Defect, Inspection, Gabor filter, Dual Light Switching.

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Authors: Amit Gil, Helman Stern, Yael Edan

Abstract:

A cognitive collaborative reinforcement learning algorithm (CCRL) that incorporates an advisor into the learning process is developed to improve supervised learning. An autonomous learner is enabled with a self awareness cognitive skill to decide when to solicit instructions from the advisor. The learner can also assess the value of advice, and accept or reject it. The method is evaluated for robotic motion planning using simulation. Tests are conducted for advisors with skill levels from expert to novice. The CCRL algorithm and a combined method integrating its logic with Clouse-s Introspection Approach, outperformed a base-line fully autonomous learner, and demonstrated robust performance when dealing with various advisor skill levels, learning to accept advice received from an expert, while rejecting that of less skilled collaborators. Although the CCRL algorithm is based on RL, it fits other machine learning methods, since advisor-s actions are only added to the outer layer.

Keywords: Robot learning, human-robot collaboration, motion planning, reinforcement learning.

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Authors: Mohamed A. Mahfouz, M. A. Ismail

Abstract:

Biclustering is a very useful data mining technique for identifying patterns where different genes are co-related based on a subset of conditions in gene expression analysis. Association rules mining is an efficient approach to achieve biclustering as in BIMODULE algorithm but it is sensitive to the value given to its input parameters and the discretization procedure used in the preprocessing step, also when noise is present, classical association rules miners discover multiple small fragments of the true bicluster, but miss the true bicluster itself. This paper formally presents a generalized noise tolerant bicluster model, termed as μBicluster. An iterative algorithm termed as BIDENS based on the proposed model is introduced that can discover a set of k possibly overlapping biclusters simultaneously. Our model uses a more flexible method to partition the dimensions to preserve meaningful and significant biclusters. The proposed algorithm allows discovering biclusters that hard to be discovered by BIMODULE. Experimental study on yeast, human gene expression data and several artificial datasets shows that our algorithm offers substantial improvements over several previously proposed biclustering algorithms.

Keywords: Machine learning, biclustering, bi-dimensional clustering, gene expression analysis, data mining.

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Authors: S. H. Borghei, E. Teymourian, M. Mobin, G. M. Komaki, S. Sheikh

Abstract:

Imperialist Competitive Algorithm (ICA) is a recent meta-heuristic method that is inspired by the social evolutions for solving NP-Hard problems. The ICA is a population-based algorithm which has achieved a great performance in comparison to other metaheuristics. This study is about developing enhanced ICA approach to solve the Cell Formation Problem (CFP) using sequence data. In addition to the conventional ICA, an enhanced version of ICA, namely EICA, applies local search techniques to add more intensification aptitude and embed the features of exploration and intensification more successfully. Suitable performance measures are used to compare the proposed algorithms with some other powerful solution approaches in the literature. In the same way, for checking the proficiency of algorithms, forty test problems are presented. Five benchmark problems have sequence data, and other ones are based on 0-1 matrices modified to sequence based problems. Computational results elucidate the efficiency of the EICA in solving CFP problems.

Keywords: Cell formation problem, Group technology, Imperialist competitive algorithm, Sequence data.

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Authors: Hakim Akeb, Mhand Hifi

Abstract:

In this paper, the use of beam search and look-ahead strategies for solving the strip packing problem (SPP) is investigated. Given a strip of fixed width W, unlimited length L, and a set of n circular pieces of known radii, the objective is to determine the minimum length of the initial strip that packs all the pieces. An augmented algorithm which combines beam search and a look-ahead strategies is proposed. The look-ahead is used in order to evaluate the nodes at each level of the tree search. The best nodes are then retained for branching. The computational investigation showed that the proposed augmented algorithm is able to improve the best known solutions of the literature on most instances used.

Keywords: Combinatorial optimization, cutting and packing, beam search, heuristic, look-ahead strategy.

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Authors: Daehwan Kim, Jaemin Kim, Seongwon Cho, Yongsuk Jang, Sun-Tae Chung, Boo-Gyoun Kim

Abstract:

AAM has been successfully applied to face alignment, but its performance is very sensitive to initial values. In case the initial values are a little far distant from the global optimum values, there exists a pretty good possibility that AAM-based face alignment may converge to a local minimum. In this paper, we propose a progressive AAM-based face alignment algorithm which first finds the feature parameter vector fitting the inner facial feature points of the face and later localize the feature points of the whole face using the first information. The proposed progressive AAM-based face alignment algorithm utilizes the fact that the feature points of the inner part of the face are less variant and less affected by the background surrounding the face than those of the outer part (like the chin contour). The proposed algorithm consists of two stages: modeling and relation derivation stage and fitting stage. Modeling and relation derivation stage first needs to construct two AAM models: the inner face AAM model and the whole face AAM model and then derive relation matrix between the inner face AAM parameter vector and the whole face AAM model parameter vector. In the fitting stage, the proposed algorithm aligns face progressively through two phases. In the first phase, the proposed algorithm will find the feature parameter vector fitting the inner facial AAM model into a new input face image, and then in the second phase it localizes the whole facial feature points of the new input face image based on the whole face AAM model using the initial parameter vector estimated from using the inner feature parameter vector obtained in the first phase and the relation matrix obtained in the first stage. Through experiments, it is verified that the proposed progressive AAM-based face alignment algorithm is more robust with respect to pose, illumination, and face background than the conventional basic AAM-based face alignment algorithm.

Keywords: Face Alignment, AAM, facial feature detection, model matching.

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Authors: LI qiu-min, TIAN yi-xiang, ZHANG gao-xun

Abstract:

GMDH algorithm can well describe the internal structure of objects. In the process of modeling, automatic screening of model structure and variables ensure the convergence rate.This paper studied a new GMDH model based on polynomial spline  stimation. The polynomial spline function was used to instead of the transfer function of GMDH to characterize the relationship between the input variables and output variables. It has proved that the algorithm has the optimal convergence rate under some conditions. The empirical results show that the algorithm can well forecast Consumer Price Index (CPI).

Keywords: spline, GMDH, nonparametric, bias, forecast.

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Authors: Al-Amin Bhuiyan, Chang Hong Liu

Abstract:

Gabor-based face representation has achieved enormous success in face recognition. This paper addresses a novel algorithm for face recognition using neural networks trained by Gabor features. The system is commenced on convolving a face image with a series of Gabor filter coefficients at different scales and orientations. Two novel contributions of this paper are: scaling of rms contrast and introduction of fuzzily skewed filter. The neural network employed for face recognition is based on the multilayer perceptron (MLP) architecture with backpropagation algorithm and incorporates the convolution filter response of Gabor jet. The effectiveness of the algorithm has been justified over a face database with images captured at different illumination conditions.

Keywords: Fuzzily skewed filter, Gabor filter, rms contrast, neural network.

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Authors: Heesung Lee, Joonkyung Sung, Euntai Kim

Abstract:

This paper proposes a method which reduces power consumption in single-error correcting, double error-detecting checker circuits that perform memory error correction code. Power is minimized with little or no impact on area and delay, using the degrees of freedom in selecting the parity check matrix of the error correcting codes. The genetic algorithm is employed to solve the non linear power optimization problem. The method is applied to two commonly used SEC-DED codes: standard Hamming and odd column weight Hsiao codes. Experiments were performed to show the performance of the proposed method.

Keywords: Error correcting codes, genetic algorithm, non-linearpower optimization, Hamming code, Hsiao code.

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Authors: Hayder Natiq Jasem, Zuriati Ahmad Zukarnain, Mohamed Othman, Shamala Subramaniam

Abstract:

Congestion control is one of the fundamental issues in computer networks. Without proper congestion control mechanisms there is the possibility of inefficient utilization of resources, ultimately leading to network collapse. Hence congestion control is an effort to adapt the performance of a network to changes in the traffic load without adversely affecting users perceived utilities. AIMD (Additive Increase Multiplicative Decrease) is the best algorithm among the set of liner algorithms because it reflects good efficiency as well as good fairness. Our control model is based on the assumption of the original AIMD algorithm; we show that both efficiency and fairness of AIMD can be improved. We call our approach is New AIMD. We present experimental results with TCP that match the expectation of our theoretical analysis.

Keywords: Congestion control, Efficiency, Fairness, TCP, AIMD.

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Authors: Ashanie Guanathillake, Kithsiri Samarasinghe

Abstract:

Wireless Sensor Networks consist of inexpensive, low power sensor nodes deployed to monitor the environment and collect data. Gathering information in an energy efficient manner is a critical aspect to prolong the network lifetime. Clustering  algorithms have an advantage of enhancing the network lifetime. Current clustering algorithms usually focus on global re-clustering and local re-clustering separately. This paper, proposed a combination of those two reclustering methods to reduce the energy consumption of the network. Furthermore, the proposed algorithm can apply to homogeneous as well as heterogeneous wireless sensor networks. In addition, the cluster head rotation happens, only when its energy drops below a dynamic threshold value computed by the algorithm. The simulation result shows that the proposed algorithm prolong the network lifetime compared to existing algorithms.

Keywords: Energy efficient, Global re-clustering, Local re-clustering, Wireless sensor networks.

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Authors: Xing Xiong, Byung-Jae Choi

Abstract:

It is important for an autonomous mobile robot to know where it is in any time in an indoor environment. In this paper, we design a relative self-localization algorithm. The algorithm compare the interest point in two images and compute the relative displacement and orientation to determent the posture. Firstly, we use the SURF algorithm to extract the interest points of the ceiling. Second, in order to reduce amount of calculation, a replacement SURF is used to extract orientation and description of the interest points. At last, according to the transformation of the interest points in two images, the relative self-localization of the mobile robot will be estimated greatly.

Keywords: Relative Self-Localization Posture, SURF, Natural Landmark, Interest Point.

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Authors: Ellips Masehian, Golnaz Habibi

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.

Keywords: 3D C-space, Binary Integer Programming (BIP), Delaunay Tessellation, Robot Motion Planning.

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Authors: Santanu Santra, Utpal Roy

Abstract:

The most important mathematical operation for any computing system is addition. An efficient adder can be of greater assistance in designing of any arithmetic circuits. Quantum-dot Cellular Automata (QCA) is a promising nanotechnology to create electronic circuits for computing devices and suitable candidate for next generation of computing systems. The article presents a modest approach to implement a novel XOR gate. The gate is simple in structure and powerful in terms of implementing digital circuits. By applying the XOR gate, the hardware requirement for a QCA circuit can be decrease and circuits can be simpler in level, clock phase and cell count. In order to verify the functionality of the proposed device some implementation of Half Adder (HA) and Full Adder (FA) is checked by means of computer simulations using QCA-Designer tool. Simulation results and physical relations confirm its usefulness in implementing every digital circuit.

Keywords: Clock, Computing system, Majority gate, QCA, QCA Designer.

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Authors: O. Siriporn, S. Benjawan

Abstract:

This paper represents four unsupervised clustering algorithms namely sIB, RandomFlatClustering, FarthestFirst, and FilteredClusterer that previously works have not been used for network traffic classification. The methodology, the result, the products of the cluster and evaluation of these algorithms with efficiency of each algorithm from accuracy are shown. Otherwise, the efficiency of these algorithms considering form the time that it use to generate the cluster quickly and correctly. Our work study and test the best algorithm by using classify traffic anomaly in network traffic with different attribute that have not been used before. We analyses the algorithm that have the best efficiency or the best learning and compare it to the previously used (K-Means). Our research will be use to develop anomaly detection system to more efficiency and more require in the future.

Keywords: Unsupervised, clustering, anomaly, machine learning.

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Authors: Emna Benmohamed, Hela Ltifi, Mounir Ben Ayed

Abstract:

Bayesian Network (BN) is one of the most efficient classification methods. It is widely used in several fields (i.e., medical diagnostics, risk analysis, bioinformatics research). The BN is defined as a probabilistic graphical model that represents a formalism for reasoning under uncertainty. This classification method has a high-performance rate in the extraction of new knowledge from data. The construction of this model consists of two phases for structure learning and parameter learning. For solving this problem, the K2 algorithm is one of the representative data-driven algorithms, which is based on score and search approach. In addition, the integration of the expert's knowledge in the structure learning process allows the obtainment of the highest accuracy. In this paper, we propose a hybrid approach combining the improvement of the K2 algorithm called K2 algorithm for Parents and Children search (K2PC) and the expert-driven method for learning the structure of BN. The evaluation of the experimental results, using the well-known benchmarks, proves that our K2PC algorithm has better performance in terms of correct structure detection. The real application of our model shows its efficiency in the analysis of the phosphate laundry effluents' impact on the watershed in the Gafsa area (southwestern Tunisia).

Keywords: Classification, Bayesian network; structure learning, K2 algorithm, expert knowledge, surface water analysis.

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Authors: Yu-Chen Kuo, Shih-Chieh Lin

Abstract:

Sensor relocation is to repair coverage holes caused by node failures. One way to repair coverage holes is to find redundant nodes to replace faulty nodes. Most researches took a long time to find redundant nodes since they randomly scattered redundant nodes around the sensing field. To record the precise position of sensor nodes, most researches assumed that GPS was installed in sensor nodes. However, high costs and power-consumptions of GPS are heavy burdens for sensor nodes. Thus, we propose a fast sensor relocation algorithm to arrange redundant nodes to form redundant walls without GPS. Redundant walls are constructed in the position where the average distance to each sensor node is the shortest. Redundant walls can guide sensor nodes to find redundant nodes in the minimum time. Simulation results show that our algorithm can find the proper redundant node in the minimum time and reduce the relocation time with low message complexity.

Keywords: Coverage, distributed algorithm, sensor relocation, wireless sensor networks.

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Authors: Hema Sandhya Jagarlamudi, Mousumi Saha, Pavan Kumar Jagarlamudi

Abstract:

The use of Quantum dots is a promising emerging Technology for implementing digital system at the nano level. It is effecient for attractive features such as faster speed , smaller size and low power consumption than transistor technology. In this paper, various Combinational and sequential logical structures - HALF ADDER, SR Latch and Flip-Flop, D Flip-Flop preceding NAND, NOR, XOR,XNOR are discussed based on QCA design, with comparatively less number of cells and area. By applying these layouts, the hardware requirements for a QCA design can be reduced. These structures are designed and simulated using QCA Designer Tool. By taking full advantage of the unique features of this technology, we are able to create complete circuits on a single layer of QCA. Such Devices are expected to function with ultra low power Consumption and very high speeds.

Keywords: QCA, QCA Designer, Clock, Majority Gate

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Authors: Serkan Ozbay, Ergun Ercelebi

Abstract:

Automatic Vehicle Identification (AVI) has many applications in traffic systems (highway electronic toll collection, red light violation enforcement, border and customs checkpoints, etc.). License Plate Recognition is an effective form of AVI systems. In this study, a smart and simple algorithm is presented for vehicle-s license plate recognition system. The proposed algorithm consists of three major parts: Extraction of plate region, segmentation of characters and recognition of plate characters. For extracting the plate region, edge detection algorithms and smearing algorithms are used. In segmentation part, smearing algorithms, filtering and some morphological algorithms are used. And finally statistical based template matching is used for recognition of plate characters. The performance of the proposed algorithm has been tested on real images. Based on the experimental results, we noted that our algorithm shows superior performance in car license plate recognition.

Keywords: Character recognizer, license plate recognition, plate region extraction, segmentation, smearing, template matching.

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Authors: Zulhadi Zakaria, Nor Ashidi Mat Isa, Shahrel A. Suandi

Abstract:

This paper reports the study results on neural network training algorithm of numerical optimization techniques multiface detection in static images. The training algorithms involved are scale gradient conjugate backpropagation, conjugate gradient backpropagation with Polak-Riebre updates, conjugate gradient backpropagation with Fletcher-Reeves updates, one secant backpropagation and resilent backpropagation. The final result of each training algorithms for multiface detection application will also be discussed and compared.

Keywords: training algorithm, multiface, static image, neural network

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Authors: Han Bing, Yin Zhenjie

Abstract:

In order to analyze the status of a diesel engine, as well as conduct fault prediction, a new prediction model based on a gray system is proposed in this paper, which takes advantage of the neural network and the genetic algorithm. The proposed GBPGA prediction model builds on the GM (1.5) model and uses a neural network, which is optimized by a genetic algorithm to construct the error compensator. We verify our proposed model on the diesel faulty simulation data and the experimental results show that GBPGA has the potential to employ fault prediction on diesel.

Keywords: Fault prediction, Neural network, GM (1.5), Genetic algorithm, GBPGA.

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Authors: Minsoo Lee, Yun-mi Kim, Yearn Jeong Kim, Yoon-kyung Lee, Hyejung Yoon

Abstract:

Biological data has several characteristics that strongly differentiate it from typical business data. It is much more complex, usually large in size, and continuously changes. Until recently business data has been the main target for discovering trends, patterns or future expectations. However, with the recent rise in biotechnology, the powerful technology that was used for analyzing business data is now being applied to biological data. With the advanced technology at hand, the main trend in biological research is rapidly changing from structural DNA analysis to understanding cellular functions of the DNA sequences. DNA chips are now being used to perform experiments and DNA analysis processes are being used by researchers. Clustering is one of the important processes used for grouping together similar entities. There are many clustering algorithms such as hierarchical clustering, self-organizing maps, K-means clustering and so on. In this paper, we propose a clustering algorithm that imitates the ecosystem taking into account the features of biological data. We implemented the system using an Ant-Colony clustering algorithm. The system decides the number of clusters automatically. The system processes the input biological data, runs the Ant-Colony algorithm, draws the Topic Map, assigns clusters to the genes and displays the output. We tested the algorithm with a test data of 100 to1000 genes and 24 samples and show promising results for applying this algorithm to clustering DNA chip data.

Keywords: Ant colony system, biological data, clustering, DNA chip.

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Authors: Praloy Kumar Biswas, Prof. Dipanwita Roy Chowdhury

Abstract:

Grobner basis calculation forms a key part of computational commutative algebra and many other areas. One important ramification of the theory of Grobner basis provides a means to solve a system of non-linear equations. This is why it has become very important in the areas where the solution of non-linear equations is needed, for instance in algebraic cryptanalysis and coding theory. This paper explores on a parallel-distributed implementation for Grobner basis calculation over GF(2). For doing so Buchberger algorithm is used. OpenMP and MPI-C language constructs have been used to implement the scheme. Some relevant results have been furnished to compare the performances between the standalone and hybrid (parallel-distributed) implementation.

Keywords: Grobner basis, Buchberger Algorithm, Distributed- Parallel Computation, OpenMP, MPI.

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Authors: M. M. Agheli, M. J. Nategh

Abstract:

Hexapod Machine Tool (HMT) is a parallel robot mostly based on Stewart platform. Identification of kinematic parameters of HMT is an important step of calibration procedure. In this paper an algorithm is presented for identifying the kinematic parameters of HMT using inverse kinematics error model. Based on this algorithm, the calibration procedure is simulated. Measurement configurations with maximum observability are decided as the first step of this algorithm for a robust calibration. The errors occurring in various configurations are illustrated graphically. It has been shown that the boundaries of the workspace should be searched for the maximum observability of errors. The importance of using configurations with sufficient observability in calibrating hexapod machine tools is verified by trial calibration with two different groups of randomly selected configurations. One group is selected to have sufficient observability and the other is in disregard of the observability criterion. Simulation results confirm the validity of the proposed identification algorithm.

Keywords: Calibration, Hexapod Machine Tool (HMT), InverseKinematics Error Model, Observability, Parallel Robot, ParameterIdentification.

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