Search results for: genetic algorithm basedselected ensemble.
2850 Distribution Voltage Regulation Under Three- Phase Fault by Using D-STATCOM
Authors: Chaiyut Sumpavakup, Thanatchai Kulworawanichpong
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This paper presents the voltage regulation scheme of D-STATCOM under three-phase faults. It consists of the voltage detection and voltage regulation schemes in the 0dq reference. The proposed control strategy uses the proportional controller in which the proportional gain, kp, is appropriately adjusted by using genetic algorithms. To verify its use, a simplified 4-bus test system is situated by assuming a three-phase fault at bus 4. As a result, the DSTATCOM can resume the load voltage to the desired level within 1.8 ms. This confirms that the proposed voltage regulation scheme performs well under three-phase fault events.Keywords: D-STATCOM, proportional controller, genetic algorithms.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17902849 Iterative solutions to the linear matrix equation AXB + CXTD = E
Authors: Yongxin Yuan, Jiashang Jiang
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In this paper the gradient based iterative algorithm is presented to solve the linear matrix equation AXB +CXTD = E, where X is unknown matrix, A,B,C,D,E are the given constant matrices. It is proved that if the equation has a solution, then the unique minimum norm solution can be obtained by choosing a special kind of initial matrices. Two numerical examples show that the introduced iterative algorithm is quite efficient.Keywords: matrix equation, iterative algorithm, parameter estimation, minimum norm solution.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15552848 An Improved Cuckoo Search Algorithm for Voltage Stability Enhancement in Power Transmission Networks
Authors: Reza Sirjani, Nobosse Tafem Bolan
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Many optimization techniques available in the literature have been developed in order to solve the problem of voltage stability enhancement in power systems. However, there are a number of drawbacks in the use of previous techniques aimed at determining the optimal location and size of reactive compensators in a network. In this paper, an Improved Cuckoo Search algorithm is applied as an appropriate optimization algorithm to determine the optimum location and size of a Static Var Compensator (SVC) in a transmission network. The main objectives are voltage stability improvement and total cost minimization. The results of the presented technique are then compared with other available optimization techniques.
Keywords: Cuckoo search algorithm, optimization, power system, var compensators, voltage stability.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13472847 Segmenting Ultrasound B-Mode Images Using RiIG Distributions and Stochastic Optimization
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In this paper, we propose a novel algorithm for delineating the endocardial wall from a human heart ultrasound scan. We assume that the gray levels in the ultrasound images are independent and identically distributed random variables with different Rician Inverse Gaussian (RiIG) distributions. Both synthetic and real clinical data will be used for testing the algorithm. Algorithm performance will be evaluated using the expert radiologist evaluation of a soft copy of an ultrasound scan during the scanning process and secondly, doctor’s conclusion after going through a printed copy of the same scan. Successful implementation of this algorithm should make it possible to differentiate normal from abnormal soft tissue and help disease identification, what stage the disease is in and how best to treat the patient. We hope that an automated system that uses this algorithm will be useful in public hospitals especially in Third World countries where problems such as shortage of skilled radiologists and shortage of ultrasound machines are common. These public hospitals are usually the first and last stop for most patients in these countries.
Keywords: Endorcardial Wall, Rician Inverse Distributions, Segmentation, Ultrasound Images.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15732846 Extraction of Symbolic Rules from Artificial Neural Networks
Authors: S. M. Kamruzzaman, Md. Monirul Islam
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Although backpropagation ANNs generally predict better than decision trees do for pattern classification problems, they are often regarded as black boxes, i.e., their predictions cannot be explained as those of decision trees. In many applications, it is desirable to extract knowledge from trained ANNs for the users to gain a better understanding of how the networks solve the problems. A new rule extraction algorithm, called rule extraction from artificial neural networks (REANN) is proposed and implemented to extract symbolic rules from ANNs. A standard three-layer feedforward ANN is the basis of the algorithm. A four-phase training algorithm is proposed for backpropagation learning. Explicitness of the extracted rules is supported by comparing them to the symbolic rules generated by other methods. Extracted rules are comparable with other methods in terms of number of rules, average number of conditions for a rule, and predictive accuracy. Extensive experimental studies on several benchmarks classification problems, such as breast cancer, iris, diabetes, and season classification problems, demonstrate the effectiveness of the proposed approach with good generalization ability.Keywords: Backpropagation, clustering algorithm, constructivealgorithm, continuous activation function, pruning algorithm, ruleextraction algorithm, symbolic rules.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16162845 Meta-Learning for Hierarchical Classification and Applications in Bioinformatics
Authors: Fabio Fabris, Alex A. Freitas
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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.Keywords: Algorithm recommendation, meta-learning, bioinformatics, hierarchical classification.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13702844 Distributed Relay Selection and Channel Choice in Cognitive Radio Network
Authors: Hao He, Shaoqian Li
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In this paper, we study the cooperative communications where multiple cognitive radio (CR) transmit-receive pairs competitive maximize their own throughputs. In CR networks, the influences of primary users and the spectrum availability are usually different among CR users. Due to the existence of multiple relay nodes and the different spectrum availability, each CR transmit-receive pair should not only select the relay node but also choose the appropriate channel. For this distributed problem, we propose a game theoretic framework to formulate this problem and we apply a regret-matching learning algorithm which is leading to correlated equilibrium. We further formulate a modified regret-matching learning algorithm which is fully distributed and only use the local information of each CR transmit-receive pair. This modified algorithm is more practical and suitable for the cooperative communications in CR network. Simulation results show the algorithm convergence and the modified learning algorithm can achieve comparable performance to the original regretmatching learning algorithm.
Keywords: cognitive radio, cooperative communication, relay selection, channel choice, regret-matching learning, correlated equilibrium.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16762843 Adaptive Noise Reduction Algorithm for Speech Enhancement
Authors: M. Kalamani, S. Valarmathy, M. Krishnamoorthi
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In this paper, Least Mean Square (LMS) adaptive noise reduction algorithm is proposed to enhance the speech signal from the noisy speech. In this, the speech signal is enhanced by varying the step size as the function of the input signal. Objective and subjective measures are made under various noises for the proposed and existing algorithms. From the experimental results, it is seen that the proposed LMS adaptive noise reduction algorithm reduces Mean square Error (MSE) and Log Spectral Distance (LSD) as compared to that of the earlier methods under various noise conditions with different input SNR levels. In addition, the proposed algorithm increases the Peak Signal to Noise Ratio (PSNR) and Segmental SNR improvement (ΔSNRseg) values; improves the Mean Opinion Score (MOS) as compared to that of the various existing LMS adaptive noise reduction algorithms. From these experimental results, it is observed that the proposed LMS adaptive noise reduction algorithm reduces the speech distortion and residual noise as compared to that of the existing methods.
Keywords: LMS, speech enhancement, speech quality, residual noise.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 28052842 An Expert System Designed to Be Used with MOEAs for Efficient Portfolio Selection
Authors: K. Metaxiotis, K. Liagkouras
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This study presents an Expert System specially designed to be used with Multiobjective Evolutionary Algorithms (MOEAs) for the solution of the portfolio selection problem. The validation of the proposed hybrid System is done by using data sets from Hang Seng 31 in Hong Kong, DAX 100 in Germany and FTSE 100 in UK. The performance of the proposed system is assessed in comparison with the Non-dominated Sorting Genetic Algorithm II (NSGAII). The evaluation of the performance is based on different performance metrics that evaluate both the proximity of the solutions to the Pareto front and their dispersion on it. The results show that the proposed hybrid system is efficient for the solution of this kind of problems.
Keywords: Expert Systems, Multiobjective optimization, Evolutionary Algorithms, Portfolio Selection.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 17692841 Optimized Algorithm for Particle Swarm Optimization
Authors: Fuzhang Zhao
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Particle swarm optimization (PSO) is becoming one of the most important swarm intelligent paradigms for solving global optimization problems. Although some progress has been made to improve PSO algorithms over the last two decades, additional work is still needed to balance parameters to achieve better numerical properties of accuracy, efficiency, and stability. In the optimal PSO algorithm, the optimal weightings of (√ 5 − 1)/2 and (3 − √5)/2 are used for the cognitive factor and the social factor, respectively. By the same token, the same optimal weightings have been applied for intensification searches and diversification searches, respectively. Perturbation and constriction effects are optimally balanced. Simulations of the de Jong, the Rosenbrock, and the Griewank functions show that the optimal PSO algorithm indeed achieves better numerical properties and outperforms the canonical PSO algorithm.Keywords: Diversification search, intensification search, optimal weighting, particle swarm optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18682840 String Searching in Dispersed Files using MDS Convolutional Codes
Authors: A. S. Poornima, R. Aparna, B. B. Amberker, Prashant Koulgi
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In this paper, we propose use of convolutional codes for file dispersal. The proposed method is comparable in complexity to the information Dispersal Algorithm proposed by M.Rabin and for particular choices of (non-binary) convolutional codes, is almost as efficient as that algorithm in terms of controlling expansion in the total storage. Further, our proposed dispersal method allows string search.Keywords: Convolutional codes, File dispersal, Filereconstruction, Information Dispersal Algorithm, String search.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12792839 Fast Search Method for Large Video Database Using Histogram Features and Temporal Division
Authors: Feifei Lee, Qiu Chen, Koji Kotani, Tadahiro Ohmi
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In this paper, we propose an improved fast search algorithm using combined histogram features and temporal division method for short MPEG video clips from large video database. There are two types of histogram features used to generate more robust features. The first one is based on the adjacent pixel intensity difference quantization (APIDQ) algorithm, which had been reliably applied to human face recognition previously. An APIDQ histogram is utilized as the feature vector of the frame image. Another one is ordinal feature which is robust to color distortion. Combined with active search [4], a temporal pruning algorithm, fast and robust video search can be realized. The proposed search algorithm has been evaluated by 6 hours of video to search for given 200 MPEG video clips which each length is 30 seconds. Experimental results show the proposed algorithm can detect the similar video clip in merely 120ms, and Equal Error Rate (ERR) of 1% is achieved, which is more accurately and robust than conventional fast video search algorithm.Keywords: Fast search, Adjacent pixel intensity differencequantization (APIDQ), DC image, Histogram feature.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16242838 Combining ILP with Semi-supervised Learning for Web Page Categorization
Authors: Nuanwan Soonthornphisaj, Boonserm Kijsirikul
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This paper presents a semi-supervised learning algorithm called Iterative-Cross Training (ICT) to solve the Web pages classification problems. We apply Inductive logic programming (ILP) as a strong learner in ICT. The objective of this research is to evaluate the potential of the strong learner in order to boost the performance of the weak learner of ICT. We compare the result with the supervised Naive Bayes, which is the well-known algorithm for the text classification problem. The performance of our learning algorithm is also compare with other semi-supervised learning algorithms which are Co-Training and EM. The experimental results show that ICT algorithm outperforms those algorithms and the performance of the weak learner can be enhanced by ILP system.
Keywords: Inductive Logic Programming, Semi-supervisedLearning, Web Page Categorization
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16432837 Digital filters for Hot-Mix Asphalt Complex Modulus Test Data Using Genetic Algorithm Strategies
Authors: Madhav V. Chitturi, Anshu Manik, Kasthurirangan Gopalakrishnan
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The dynamic or complex modulus test is considered to be a mechanistically based laboratory test to reliably characterize the strength and load-resistance of Hot-Mix Asphalt (HMA) mixes used in the construction of roads. The most common observation is that the data collected from these tests are often noisy and somewhat non-sinusoidal. This hampers accurate analysis of the data to obtain engineering insight. The goal of the work presented in this paper is to develop and compare automated evolutionary computational techniques to filter test noise in the collection of data for the HMA complex modulus test. The results showed that the Covariance Matrix Adaptation-Evolutionary Strategy (CMA-ES) approach is computationally efficient for filtering data obtained from the HMA complex modulus test.Keywords: HMA, dynamic modulus, GA, evolutionarycomputation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15712836 An Effective Algorithm for Minimum Weighted Vertex Cover Problem
Authors: S. Balaji, V. Swaminathan, K. Kannan
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The Minimum Weighted Vertex Cover (MWVC) problem is a classic graph optimization NP - complete problem. Given an undirected graph G = (V, E) and weighting function defined on the vertex set, the minimum weighted vertex cover problem is to find a vertex set S V whose total weight is minimum subject to every edge of G has at least one end point in S. In this paper an effective algorithm, called Support Ratio Algorithm (SRA), is designed to find the minimum weighted vertex cover of a graph. Computational experiments are designed and conducted to study the performance of our proposed algorithm. Extensive simulation results show that the SRA can yield better solutions than other existing algorithms found in the literature for solving the minimum vertex cover problem.
Keywords: Weighted vertex cover, vertex support, approximation algorithms, NP-complete problem.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 38822835 An Exact Algorithm for Location–Transportation Problems in Humanitarian Relief
Authors: Chansiri Singhtaun
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This paper proposes a mathematical model and examines the performance of an exact algorithm for a location– transportation problems in humanitarian relief. The model determines the number and location of distribution centers in a relief network, the amount of relief supplies to be stocked at each distribution center and the vehicles to take the supplies to meet the needs of disaster victims under capacity restriction, transportation and budgetary constraints. The computational experiments are conducted on the various sizes of problems that are generated. Branch and bound algorithm is applied for these problems. The results show that this algorithm can solve problem sizes of up to three candidate locations with five demand points and one candidate location with up to twenty demand points without premature termination.
Keywords: Disaster response, facility location, humanitarian relief, transportation.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 23812834 A Finite-Time Consensus Protocol of the Multi-Agent Systems
Authors: Xin-Lei Feng, Ting-Zhu Huang
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According to conjugate gradient algorithm, a new consensus protocol algorithm of discrete-time multi-agent systems is presented, which can achieve finite-time consensus. Finally, a numerical example is given to illustrate our theoretical result.
Keywords: Consensus protocols; Graph theory; Multi-agent systems;Conjugate gradient algorithm; Finite-time.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21402833 A Computational Cost-Effective Clustering Algorithm in Multidimensional Space Using the Manhattan Metric: Application to the Global Terrorism Database
Authors: Semeh Ben Salem, Sami Naouali, Moetez Sallami
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The increasing amount of collected data has limited the performance of the current analyzing algorithms. Thus, developing new cost-effective algorithms in terms of complexity, scalability, and accuracy raised significant interests. In this paper, a modified effective k-means based algorithm is developed and experimented. The new algorithm aims to reduce the computational load without significantly affecting the quality of the clusterings. The algorithm uses the City Block distance and a new stop criterion to guarantee the convergence. Conducted experiments on a real data set show its high performance when compared with the original k-means version.
Keywords: Pattern recognition, partitional clustering, K-means clustering, Manhattan distance, terrorism data analysis.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13592832 The Selection of the Nearest Anchor Using Received Signal Strength Indication (RSSI)
Authors: Hichem Sassi, Tawfik Najeh, Noureddine Liouane
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The localization information is crucial for the operation of WSN. There are principally two types of localization algorithms. The Range-based localization algorithm has strict requirements on hardware, thus is expensive to be implemented in practice. The Range-free localization algorithm reduces the hardware cost. However, it can only achieve high accuracy in ideal scenarios. In this paper, we locate unknown nodes by incorporating the advantages of these two types of methods. The proposed algorithm makes the unknown nodes select the nearest anchor using the Received Signal Strength Indicator (RSSI) and choose two other anchors which are the most accurate to achieve the estimated location. Our algorithm improves the localization accuracy compared with previous algorithms, which has been demonstrated by the simulating results.Keywords: WSN, localization, DV-hop, RSSI.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18152831 Auto Classification for Search Intelligence
Authors: Lilac A. E. Al-Safadi
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This paper proposes an auto-classification algorithm of Web pages using Data mining techniques. We consider the problem of discovering association rules between terms in a set of Web pages belonging to a category in a search engine database, and present an auto-classification algorithm for solving this problem that are fundamentally based on Apriori algorithm. The proposed technique has two phases. The first phase is a training phase where human experts determines the categories of different Web pages, and the supervised Data mining algorithm will combine these categories with appropriate weighted index terms according to the highest supported rules among the most frequent words. The second phase is the categorization phase where a web crawler will crawl through the World Wide Web to build a database categorized according to the result of the data mining approach. This database contains URLs and their categories.Keywords: Information Processing on the Web, Data Mining, Document Classification.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16192830 Bandwidth Estimation Algorithms for the Dynamic Adaptation of Voice Codec
Authors: Davide Pierattoni, Ivan Macor, Pier Luca Montessoro
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In the recent years multimedia traffic and in particular VoIP services are growing dramatically. We present a new algorithm to control the resource utilization and to optimize the voice codec selection during SIP call setup on behalf of the traffic condition estimated on the network path. The most suitable methodologies and the tools that perform realtime evaluation of the available bandwidth on a network path have been integrated with our proposed algorithm: this selects the best codec for a VoIP call in function of the instantaneous available bandwidth on the path. The algorithm does not require any explicit feedback from the network, and this makes it easily deployable over the Internet. We have also performed intensive tests on real network scenarios with a software prototype, verifying the algorithm efficiency with different network topologies and traffic patterns between two SIP PBXs. The promising results obtained during the experimental validation of the algorithm are now the basis for the extension towards a larger set of multimedia services and the integration of our methodology with existing PBX appliances.Keywords: Integrated voice-data communication, computernetwork performance, resource optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16932829 Improved Zero Text Watermarking Algorithm against Meaning Preserving Attacks
Authors: Jalil Z., Farooq M., Zafar H., Sabir M., Ashraf E.
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Internet is largely composed of textual contents and a huge volume of digital contents gets floated over the Internet daily. The ease of information sharing and re-production has made it difficult to preserve author-s copyright. Digital watermarking came up as a solution for copyright protection of plain text problem after 1993. In this paper, we propose a zero text watermarking algorithm based on occurrence frequency of non-vowel ASCII characters and words for copyright protection of plain text. The embedding algorithm makes use of frequency non-vowel ASCII characters and words to generate a specialized author key. The extraction algorithm uses this key to extract watermark, hence identify the original copyright owner. Experimental results illustrate the effectiveness of the proposed algorithm on text encountering meaning preserving attacks performed by five independent attackers.Keywords: Copyright protection, Digital watermarking, Document authentication, Information security, Watermark.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 21602828 Enhanced Character Based Algorithm for Small Parsimony
Authors: Parvinder Singh Sandhu, Sumeet Kaur Sehra, Karmjit Kaur
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Phylogenetic tree is a graphical representation of the evolutionary relationship among three or more genes or organisms. These trees show relatedness of data sets, species or genes divergence time and nature of their common ancestors. Quality of a phylogenetic tree requires parsimony criterion. Various approaches have been proposed for constructing most parsimonious trees. This paper is concerned about calculating and optimizing the changes of state that are needed called Small Parsimony Algorithms. This paper has proposed enhanced small parsimony algorithm to give better score based on number of evolutionary changes needed to produce the observed sequence changes tree and also give the ancestor of the given input.Keywords: Phylogenetic Analysis, Small Parsimony, EnhancedFitch Algorithm, Enhanced Sakoff Algorithm.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 13492827 Radial Basis Surrogate Model Integrated to Evolutionary Algorithm for Solving Computation Intensive Black-Box Problems
Authors: Abdulbaset Saad, Adel Younis, Zuomin Dong
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For design optimization with high-dimensional expensive problems, an effective and efficient optimization methodology is desired. This work proposes a series of modification to the Differential Evolution (DE) algorithm for solving computation Intensive Black-Box Problems. The proposed methodology is called Radial Basis Meta-Model Algorithm Assisted Differential Evolutionary (RBF-DE), which is a global optimization algorithm based on the meta-modeling techniques. A meta-modeling assisted DE is proposed to solve computationally expensive optimization problems. The Radial Basis Function (RBF) model is used as a surrogate model to approximate the expensive objective function, while DE employs a mechanism to dynamically select the best performing combination of parameters such as differential rate, cross over probability, and population size. The proposed algorithm is tested on benchmark functions and real life practical applications and problems. The test results demonstrate that the proposed algorithm is promising and performs well compared to other optimization algorithms. The proposed algorithm is capable of converging to acceptable and good solutions in terms of accuracy, number of evaluations, and time needed to converge.
Keywords: Differential evolution, engineering design, expensive computations, meta-modeling, radial basis function, optimization.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 11732826 Comparison of Back-Projection with Non-Uniform Fast Fourier Transform for Real-Time Photoacoustic Tomography
Authors: Moung Young Lee, Chul Gyu Song
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Photoacoustic imaging is the imaging technology that combines the optical imaging and ultrasound. This provides the high contrast and resolution due to optical imaging and ultrasound imaging, respectively. We developed the real-time photoacoustic tomography (PAT) system using linear-ultrasound transducer and digital acquisition (DAQ) board. There are two types of algorithm for reconstructing the photoacoustic signal. One is back-projection algorithm, the other is FFT algorithm. Especially, we used the non-uniform FFT algorithm. To evaluate the performance of our system and algorithms, we monitored two wires that stands at interval of 2.89 mm and 0.87 mm. Then, we compared the images reconstructed by algorithms. Finally, we monitored the two hairs crossed and compared between these algorithms.Keywords: Back-projection, image comparison, non-uniform FFT, photoacoustic tomography.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 18922825 Robot Operating System-Based SLAM for a Gazebo-Simulated Turtlebot2 in 2d Indoor Environment with Cartographer Algorithm
Authors: Wilayat Ali, Li Sheng, Waleed Ahmed
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The ability of the robot to make simultaneously map of the environment and localize itself with respect to that environment is the most important element of mobile robots. To solve SLAM many algorithms could be utilized to build up the SLAM process and SLAM is a developing area in Robotics research. Robot Operating System (ROS) is one of the frameworks which provide multiple algorithm nodes to work with and provide a transmission layer to robots. Manyof these algorithms extensively in use are Hector SLAM, Gmapping and Cartographer SLAM. This paper describes a ROS-based Simultaneous localization and mapping (SLAM) library Google Cartographer mapping, which is open-source algorithm. The algorithm was applied to create a map using laser and pose data from 2d Lidar that was placed on a mobile robot. The model robot uses the gazebo package and simulated in Rviz. Our research work's primary goal is to obtain mapping through Cartographer SLAM algorithm in a static indoor environment. From our research, it is shown that for indoor environments cartographer is an applicable algorithm to generate 2d maps with LIDAR placed on mobile robot because it uses both odometry and poses estimation. The algorithm has been evaluated and maps are constructed against the SLAM algorithms presented by Turtlebot2 in the static indoor environment.Keywords: SLAM, ROS, navigation, localization and mapping, Gazebo, Rviz, Turtlebot2, SLAM algorithms, 2d Indoor environment, Cartographer.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 12322824 Singularity Loci of Actuation Schemes for 3RRR Planar Parallel Manipulator
Authors: S. Ramana Babu, V. Ramachandra Raju, K. Ramji
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This paper presents the effect of actuation schemes on the performance of parallel manipulators and also how the singularity loci have been changed in the reachable workspace of the manipulator with the choice of actuation scheme to drive the manipulator. The performance of the eight possible actuation schemes of 3RRR planar parallel manipulator is compared with each other. The optimal design problem is formulated to find the manipulator geometry that maximizes the singularity free conditioned workspace for all the eight actuation cases, the optimization problem is solved by using genetic algorithms.Keywords: Actuation schemes, GCI, genetic algorithms.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 16262823 Reduction of Impulsive Noise in OFDM System Using Adaptive Algorithm
Authors: Alina Mirza, Sumrin M. Kabir, Shahzad A. Sheikh
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The Orthogonal Frequency Division Multiplexing (OFDM) with high data rate, high spectral efficiency and its ability to mitigate the effects of multipath makes them most suitable in wireless application. Impulsive noise distorts the OFDM transmission and therefore methods must be investigated to suppress this noise. In this paper, a State Space Recursive Least Square (SSRLS) algorithm based adaptive impulsive noise suppressor for OFDM communication system is proposed. And a comparison with another adaptive algorithm is conducted. The state space model-dependent recursive parameters of proposed scheme enables to achieve steady state mean squared error (MSE), low bit error rate (BER), and faster convergence than that of some of existing algorithm.Keywords: OFDM, Impulsive Noise, SSRLS, BER.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 27012822 Relative Mapping Errors of Linear Time Invariant Systems Caused By Particle Swarm Optimized Reduced Order Model
Authors: G. Parmar, S. Mukherjee, R. Prasad
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The authors present an optimization algorithm for order reduction and its application for the determination of the relative mapping errors of linear time invariant dynamic systems by the simplified models. These relative mapping errors are expressed by means of the relative integral square error criterion, which are determined for both unit step and impulse inputs. The reduction algorithm is based on minimization of the integral square error by particle swarm optimization technique pertaining to a unit step input. The algorithm is simple and computer oriented. It is shown that the algorithm has several advantages, e.g. the reduced order models retain the steady-state value and stability of the original system. Two numerical examples are solved to illustrate the superiority of the algorithm over some existing methods.Keywords: Order reduction, Particle swarm optimization, Relative mapping error, Stability.
Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 15742821 Co-tier and Co-channel Interference Avoidance Algorithm for Femtocell Networks
Authors: S. Padmapriya, M. Tamilarasi
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Femtocells are regarded as a milestone for next generation cellular networks. As femtocells are deployed in an unplanned manner, there is a chance of assigning same resource to neighboring femtocells. This scenario may induce co-channel interference and may seriously affect the service quality of neighboring femtocells. In addition, the dominant transmit power of a femtocell will induce co-tier interference to neighboring femtocells. Thus to jointly handle co-tier and co-channel interference, we propose an interference-free power and resource block allocation (IFPRBA) algorithm for closely located, closed access femtocells. Based on neighboring list, inter-femto-base station distance and uplink noise power, the IFPRBA algorithm assigns non-interfering power and resource to femtocells. The IFPRBA algorithm also guarantees the quality of service to femtouser based on the knowledge of resource requirement, connection type, and the tolerable delay budget. Simulation result shows that the interference power experienced in IFPRBA algorithm is below the tolerable interference power and hence the overall service success ratio, PRB efficiency and network throughput are maximum when compared to conventional resource allocation framework for femtocell (RAFF) algorithm.
Keywords: Co-channel interference, co-tier interference, femtocells, guaranteed QoS, power optimization, resource assignment.
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