Search results for: A* Algorithm

Authors: Young-Seok Choi

Abstract:

This work presents a new type of the affine projection (AP) algorithms which incorporate the sparsity condition of a system. To exploit the sparsity of the system, a weighted l1-norm regularization is imposed on the cost function of the AP algorithm. Minimizing the cost function with a subgradient calculus and choosing two distinct weighting for l1-norm, two stochastic gradient based sparsity regularized AP (SR-AP) algorithms are developed. Experimental results exhibit that the SR-AP algorithms outperform the typical AP counterparts for identifying sparse systems.

Keywords: System identification, adaptive filter, affine projection, sparsity, sparse system.

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Authors: Farhad Asadi, Mohammad Javad Mollakazemi

Abstract:

In this paper, Bayesian online inference in models of data series are constructed by change-points algorithm, which separated the observed time series into independent series and study the change and variation of the regime of the data with related statistical characteristics. variation of statistical characteristics of time series data often represent separated phenomena in the some dynamical system, like a change in state of brain dynamical reflected in EEG signal data measurement or a change in important regime of data in many dynamical system. In this paper, prediction algorithm for studying change point location in some time series data is simulated. It is verified that pattern of proposed distribution of data has important factor on simpler and smother fluctuation of hazard rate parameter and also for better identification of change point locations. Finally, the conditions of how the time series distribution effect on factors in this approach are explained and validated with different time series databases for some dynamical system.

Keywords: Time series, fluctuation in statistical characteristics, optimal learning.

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Authors: Parvinder S. Sandhu, Sunil Khullar, Satpreet Singh, Simranjit K. Bains, Manpreet Kaur, Gurvinder Singh

Abstract:

Fault-proneness of a software module is the probability that the module contains faults. To predict faultproneness of modules different techniques have been proposed which includes statistical methods, machine learning techniques, neural network techniques and clustering techniques. The aim of proposed study is to explore whether metrics available in the early lifecycle (i.e. requirement metrics), metrics available in the late lifecycle (i.e. code metrics) and metrics available in the early lifecycle (i.e. requirement metrics) combined with metrics available in the late lifecycle (i.e. code metrics) can be used to identify fault prone modules using Genetic Algorithm technique. This approach has been tested with real time defect C Programming language datasets of NASA software projects. The results show that the fusion of requirement and code metric is the best prediction model for detecting the faults as compared with commonly used code based model.

Keywords: Genetic Algorithm, Fault Proneness, Software Faultand Software Quality.

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Authors: Nga-Viet Nguyen, Georgy Shevlyakov, Vladimir Shin

Abstract:

To solve the problem of multisensor data fusion under non-Gaussian channel noise. The advanced M-estimates are known to be robust solution while trading off some accuracy. In order to improve the estimation accuracy while still maintaining the equivalent robustness, a two-stage robust fusion algorithm is proposed using preliminary rejection of outliers then an optimal linear fusion. The numerical experiments show that the proposed algorithm is equivalent to the M-estimates in the case of uncorrelated local estimates and significantly outperforms the M-estimates when local estimates are correlated.

Keywords: Data fusion, estimation, robustness, M-estimates.

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Authors: Ali Anaissi, Paul J. Kennedy, Madhu Goyal

Abstract:

Analysis and visualization of microarraydata is veryassistantfor biologists and clinicians in the field of diagnosis and treatment of patients. It allows Clinicians to better understand the structure of microarray and facilitates understanding gene expression in cells. However, microarray dataset is a complex data set and has thousands of features and a very small number of observations. This very high dimensional data set often contains some noise, non-useful information and a small number of relevant features for disease or genotype. This paper proposes a non-linear dimensionality reduction algorithm Local Principal Component (LPC) which aims to maps high dimensional data to a lower dimensional space. The reduced data represents the most important variables underlying the original data. Experimental results and comparisons are presented to show the quality of the proposed algorithm. Moreover, experiments also show how this algorithm reduces high dimensional data whilst preserving the neighbourhoods of the points in the low dimensional space as in the high dimensional space.

Keywords: Linear Dimension Reduction, Non-Linear Dimension Reduction, Principal Component Analysis, Biologists.

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Authors: Adi A. Maaita, Hamza A. A. Al_Sewadi

Abstract:

One of the crucial parameters of digital cryptographic systems is the selection of the keys used and their distribution. The randomness of the keys has a strong impact on the system’s security strength being difficult to be predicted, guessed, reproduced, or discovered by a cryptanalyst. Therefore, adequate key randomness generation is still sought for the benefit of stronger cryptosystems. This paper suggests an algorithm designed to generate and test pseudo random number sequences intended for cryptographic applications. This algorithm is based on mathematically manipulating a publically agreed upon information between sender and receiver over a public channel. This information is used as a seed for performing some mathematical functions in order to generate a sequence of pseudorandom numbers that will be used for encryption/decryption purposes. This manipulation involves permutations and substitutions that fulfill Shannon’s principle of “confusion and diffusion”. ASCII code characters were utilized in the generation process instead of using bit strings initially, which adds more flexibility in testing different seed values. Finally, the obtained results would indicate sound difficulty of guessing keys by attackers.

Keywords: Cryptosystems, Information Security agreement, Key distribution, Random numbers.

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Authors: K. C. Meher, R. K. Swain, C. K. Chanda

Abstract:

This paper presents the performance analysis of dynamic search space reduction (DSR) based gravitational search algorithm (GSA) to solve dynamic economic dispatch of thermal generating units with valve point effects. Dynamic economic dispatch basically dictates the best setting of generator units with anticipated load demand over a definite period of time. In this paper, the presented technique is considered that deals an inequality constraints treatment mechanism known as DSR strategy to accelerate the optimization process. The presented method is demonstrated through five-unit test systems to verify its effectiveness and robustness. The simulation results are compared with other existing evolutionary methods reported in the literature. It is intuited from the comparison that the fuel cost and other performances of the presented approach yield fruitful results with marginal value of simulation time.

Keywords: Dynamic economic dispatch, dynamic search space reduction strategy, gravitational search algorithm, ramp rate limits, valve-point effects.

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Authors: Fadl M. Ba-Alwi, Kamal K. Bharadwaj

Abstract:

In this paper a novel algorithm is proposed that integrates the process of fuzzy hierarchy generation and rule discovery for automated discovery of Production Rules with Fuzzy Hierarchy (PRFH) in large databases.A concept of frequency matrix (Freq) introduced to summarize large database that helps in minimizing the number of database accesses, identification and removal of irrelevant attribute values and weak classes during the fuzzy hierarchy generation.Experimental results have established the effectiveness of the proposed algorithm.

Keywords: Data Mining, Degree of subsumption, Freq matrix, Fuzzy hierarchy.

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Authors: M. Analoui, M. Fadavi Amiri

Abstract:

The design of a pattern classifier includes an attempt to select, among a set of possible features, a minimum subset of weakly correlated features that better discriminate the pattern classes. This is usually a difficult task in practice, normally requiring the application of heuristic knowledge about the specific problem domain. The selection and quality of the features representing each pattern have a considerable bearing on the success of subsequent pattern classification. Feature extraction is the process of deriving new features from the original features in order to reduce the cost of feature measurement, increase classifier efficiency, and allow higher classification accuracy. Many current feature extraction techniques involve linear transformations of the original pattern vectors to new vectors of lower dimensionality. While this is useful for data visualization and increasing classification efficiency, it does not necessarily reduce the number of features that must be measured since each new feature may be a linear combination of all of the features in the original pattern vector. In this paper a new approach is presented to feature extraction in which feature selection, feature extraction, and classifier training are performed simultaneously using a genetic algorithm. In this approach each feature value is first normalized by a linear equation, then scaled by the associated weight prior to training, testing, and classification. A knn classifier is used to evaluate each set of feature weights. The genetic algorithm optimizes a vector of feature weights, which are used to scale the individual features in the original pattern vectors in either a linear or a nonlinear fashion. By this approach, the number of features used in classifying can be finely reduced.

Keywords: Feature reduction, genetic algorithm, pattern classification, nearest neighbor rule classifiers (k-NNR).

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Authors: J. Tospornsampan, I. Kita, M. Ishii, Y. Kitamura

Abstract:

In this paper a combination approach of two heuristic-based algorithms: genetic algorithm and tabu search is proposed. It has been developed to obtain the least cost based on the split-pipe design of looped water distribution network. The proposed combination algorithm has been applied to solve the three well-known water distribution networks taken from the literature. The development of the combination of these two heuristic-based algorithms for optimization is aimed at enhancing their strengths and compensating their weaknesses. Tabu search is rather systematic and deterministic that uses adaptive memory in search process, while genetic algorithm is probabilistic and stochastic optimization technique in which the solution space is explored by generating candidate solutions. Split-pipe design may not be realistic in practice but in optimization purpose, optimal solutions are always achieved with split-pipe design. The solutions obtained in this study have proved that the least cost solutions obtained from the split-pipe design are always better than those obtained from the single pipe design. The results obtained from the combination approach show its ability and effectiveness to solve combinatorial optimization problems. The solutions obtained are very satisfactory and high quality in which the solutions of two networks are found to be the lowest-cost solutions yet presented in the literature. The concept of combination approach proposed in this study is expected to contribute some useful benefits in diverse problems.

Keywords: GAs, Heuristics, Looped network, Least-cost design, Pipe network, Optimization, TS

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Authors: Asmir Gogic, Aljo Mujcic, Sandra Ibric, Nermin Suljanovic

Abstract:

Ubiquity of natural disasters during last few decades have risen serious questions towards the prediction of such events and human safety. Every disaster regardless its proportion has a precursor which is manifested as a disruption of some environmental parameter such as temperature, humidity, pressure, vibrations and etc. In order to anticipate and monitor those changes, in this paper we propose an overall system for disaster prediction and monitoring, based on wireless sensor network (WSN). Furthermore, we introduce a modified and simplified WSN routing protocol built on the top of the trickle routing algorithm. Routing algorithm was deployed using the bluetooth low energy protocol in order to achieve low power consumption. Performance of the WSN network was analyzed using a real life system implementation. Estimates of the WSN parameters such as battery life time, network size and packet delay are determined. Based on the performance of the WSN network, proposed system can be utilized for disaster monitoring and prediction due to its low power profile and mesh routing feature.

Keywords: Bluetooth low energy, disaster prediction, mesh routing protocols, wireless sensor networks.

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Authors: K. Thiagarajan, K. Saranya, A. Veeraiah, B. Sudha

Abstract:

This paper presents a novel algorithm for secure, reliable and flexible transmission of big data in two hop wireless networks using cooperative jamming scheme. Two hop wireless networks consist of source, relay and destination nodes. Big data has to transmit from source to relay and from relay to destination by deploying security in physical layer. Cooperative jamming scheme determines transmission of big data in more secure manner by protecting it from eavesdroppers and malicious nodes of unknown location. The novel algorithm that ensures secure and energy balance transmission of big data, includes selection of data transmitting region, segmenting the selected region, determining probability ratio for each node (capture node, non-capture and eavesdropper node) in every segment, evaluating the probability using binary based evaluation. If it is secure transmission resume with the two- hop transmission of big data, otherwise prevent the attackers by cooperative jamming scheme and transmit the data in two-hop transmission.

Keywords: Big data, cooperative jamming, energy balance, physical layer, two-hop transmission, wireless security.

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Authors: Sakol Udomsiri, Masahiro Iwahashi

Abstract:

This paper presents comparative study on recent integer DCTs and a new method to construct a low sensitive structure of integer DCT for colored input signals. The method refers to sensitivity of multiplier coefficients to finite word length as an indicator of how word length truncation effects on quality of output signal. The sensitivity is also theoretically evaluated as a function of auto-correlation and covariance matrix of input signal. The structure of integer DCT algorithm is optimized by combination of lower sensitive lifting structure types of IRT. It is evaluated by the sensitivity of multiplier coefficients to finite word length expression in a function of covariance matrix of input signal. Effectiveness of the optimum combination of IRT in integer DCT algorithm is confirmed by quality improvement comparing with existing case. As a result, the optimum combination of IRT in each integer DCT algorithm evidently improves output signal quality and it is still compatible with the existing one.

Keywords: DCT, sensitivity, lossless, wordlength.

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Authors: Mahdi Fakoor, Seyed Mohammad Navid Ghoreishi

Abstract:

Composite patching is a common way for reinforcing the cracked pipes and cylinders. The effects of composite patch reinforcement on fracture parameters of a cracked pipe depend on a variety of parameters such as number of layers, angle, thickness, and material of each layer. Therefore, stacking sequence optimization of composite patch becomes crucial for the applications of cracked pipes. In this study, in order to obtain the optimal stacking sequence for a composite patch that has minimum weight and maximum resistance in propagation of cracks, a coupled Multi-Objective Genetic Algorithm (MOGA) and Finite Element Method (FEM) process is proposed. This optimization process has done for longitudinal and transverse semi-elliptical cracks and optimal stacking sequences and Pareto’s front for each kind of cracks are presented. The proposed algorithm is validated against collected results from the existing literature.

Keywords: Multi objective optimization, Pareto front, composite patch, cracked pipe.

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Authors: Siriluck Lorpunmanee, Mohd Noor Sap, Abdul Hanan Abdullah, Chai Chompoo-inwai

Abstract:

Grid computing is growing rapidly in the distributed heterogeneous systems for utilizing and sharing large-scale resources to solve complex scientific problems. Scheduling is the most recent topic used to achieve high performance in grid environments. It aims to find a suitable allocation of resources for each job. A typical problem which arises during this task is the decision of scheduling. It is about an effective utilization of processor to minimize tardiness time of a job, when it is being scheduled. This paper, therefore, addresses the problem by developing a general framework of grid scheduling using dynamic information and an ant colony optimization algorithm to improve the decision of scheduling. The performance of various dispatching rules such as First Come First Served (FCFS), Earliest Due Date (EDD), Earliest Release Date (ERD), and an Ant Colony Optimization (ACO) are compared. Moreover, the benefit of using an Ant Colony Optimization for performance improvement of the grid Scheduling is also discussed. It is found that the scheduling system using an Ant Colony Optimization algorithm can efficiently and effectively allocate jobs to proper resources.

Keywords: Grid computing, Distributed heterogeneous system, Ant colony optimization algorithm, Grid scheduling, Dispatchingrules.

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Authors: Jindřiška Šedová, Miloš Šeda

Abstract:

This paper summarizes and compares approaches to solving the knapsack problem and its known application in capital budgeting. The first approach uses deterministic methods and can be applied to small-size tasks with a single constraint. We can also apply commercial software systems such as the GAMS modelling system. However, because of NP-completeness of the problem, more complex problem instances must be solved by means of heuristic techniques to achieve an approximation of the exact solution in a reasonable amount of time. We show the problem representation and parameter settings for a genetic algorithm framework.

Keywords: Capital budgeting, knapsack problem, GAMS, heuristic method, genetic algorithm.

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Authors: Pogula Rakesh, T. Kishore Kumar

Abstract:

Speech enhancement is a long standing problem with numerous applications like teleconferencing, VoIP, hearing aids and speech recognition. The motivation behind this research work is to obtain a clean speech signal of higher quality by applying the optimal noise cancellation technique. Real-time adaptive filtering algorithms seem to be the best candidate among all categories of the speech enhancement methods. In this paper, we propose a speech enhancement method based on Recursive Least Squares (RLS) adaptive filter of speech signals. Experiments were performed on noisy data which was prepared by adding AWGN, Babble and Pink noise to clean speech samples at -5dB, 0dB, 5dB and 10dB SNR levels. We then compare the noise cancellation performance of proposed RLS algorithm with existing NLMS algorithm in terms of Mean Squared Error (MSE), Signal to Noise ratio (SNR) and SNR Loss. Based on the performance evaluation, the proposed RLS algorithm was found to be a better optimal noise cancellation technique for speech signals.

Keywords: Adaptive filter, Adaptive Noise Canceller, Mean Squared Error, Noise reduction, NLMS, RLS, SNR, SNR Loss.

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Authors: J.-C. Créput, A. Koukam, A. Hajjam

Abstract:

We present a non standard Euclidean vehicle routing problem adding a level of clustering, and we revisit the use of self-organizing maps as a tool which naturally handles such problems. We present how they can be used as a main operator into an evolutionary algorithm to address two conflicting objectives of route length and distance from customers to bus stops minimization and to deal with capacity constraints. We apply the approach to a real-life case of combined clustering and vehicle routing for the transportation of the 780 employees of an enterprise. Basing upon a geographic information system we discuss the influence of road infrastructures on the solutions generated.

Keywords: Evolutionary algorithm, self-organizing map, clustering and vehicle routing.

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Authors: Xiangbin Zhu, Wenjuan Zhang

Abstract:

In wireless sensor networks,the mobile agent technology is used in data fusion. According to the node residual energy and the results of partial integration,we design the node clustering algorithm. Optimization of mobile agent in the routing within the cluster strategy for wireless sensor networks to further reduce the amount of data transfer. Through the experiments, using mobile agents in the integration process within the cluster can be reduced the path loss in some extent.

Keywords: wireless sensor networks, data fusion, mobile agent

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Authors: N. Muthukumaran, R. Ravi

Abstract:

The Simulation based VLSI Implementation of FELICS (Fast Efficient Lossless Image Compression System) Algorithm is proposed to provide the lossless image compression and is implemented in simulation oriented VLSI (Very Large Scale Integrated). To analysis the performance of Lossless image compression and to reduce the image without losing image quality and then implemented in VLSI based FELICS algorithm. In FELICS algorithm, which consists of simplified adjusted binary code for Image compression and these compression image is converted in pixel and then implemented in VLSI domain. This parameter is used to achieve high processing speed and minimize the area and power. The simplified adjusted binary code reduces the number of arithmetic operation and achieved high processing speed. The color difference preprocessing is also proposed to improve coding efficiency with simple arithmetic operation. Although VLSI based FELICS Algorithm provides effective solution for hardware architecture design for regular pipelining data flow parallelism with four stages. With two level parallelisms, consecutive pixels can be classified into even and odd samples and the individual hardware engine is dedicated for each one. This method can be further enhanced by multilevel parallelisms.

Keywords: Image compression, Pixel, Compression Ratio, Adjusted Binary code, Golumb Rice code, High Definition display, VLSI Implementation.

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Authors: Seyed R Mousavi

Abstract:

In most rule-induction algorithms, the only operator used against nominal attributes is the equality operator =. In this paper, we first propose the use of the inequality operator, ≠, in addition to the equality operator, to increase the expressiveness of induced rules. Then, we present a new method, Binary Coding, which can be used along with an arbitrary rule-induction algorithm to make use of the inequality operator without any need to change the algorithm. Experimental results suggest that the Binary Coding method is promising enough for further investigation, especially in cases where the minimum number of rules is desirable.

Keywords: Data mining, Inequality operator, Number of rules, Rule-induction.

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Authors: Feng Ge, Tiecheng Liu, Song Wang, Joachim Stahl

Abstract:

This paper presents a novel template-based method to detect objects of interest from real images by shape matching. To locate a target object that has a similar shape to a given template boundary, the proposed method integrates three components: contour grouping, partial shape matching, and boundary verification. In the first component, low-level image features, including edges and corners, are grouped into a set of perceptually salient closed contours using an extended ratio-contour algorithm. In the second component, we develop a partial shape matching algorithm to identify the fractions of detected contours that partly match given template boundaries. Specifically, we represent template boundaries and detected contours using landmarks, and apply a greedy algorithm to search the matched landmark subsequences. For each matched fraction between a template and a detected contour, we estimate an affine transform that transforms the whole template into a hypothetic boundary. In the third component, we provide an efficient algorithm based on oriented edge lists to determine the target boundary from the hypothetic boundaries by checking each of them against image edges. We evaluate the proposed method on recognizing and localizing 12 template leaves in a data set of real images with clutter back-grounds, illumination variations, occlusions, and image noises. The experiments demonstrate the high performance of our proposed method1.

Keywords: Object detection, shape matching, contour grouping.

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Authors: Hidehiko Okada, Yuki Fujii

Abstract:

Researchers have been applying artificial/ computational intelligence (AI/CI) methods to computer games. In this research field, further researchesare required to compare AI/CI methods with respect to each game application. In thispaper, we report our experimental result on the comparison of evolution strategy, genetic algorithm and their hybrids, applied to evolving controller agents for MarioAI. GA revealed its advantage in our experiment, whereas the expected ability of ES in exploiting (fine-tuning) solutions was not clearly observed. The blend crossover operator and the mutation operator of GA might contribute well to explore the vast search space.

Keywords: Evolutionary algorithm, autonomous game controller agent, neuroevolutions, MarioAI

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Authors: Mohammed Zidane, Said Safi, Mohamed Sabri, Ahmed Boumezzough

Abstract:

This paper describes a blind algorithm, which is compared with two another algorithms proposed in the literature, for estimating of the minimum phase channel parameters. In order to identify blindly the impulse response of these channels, we have used Higher Order Statistics (HOS) to build our algorithm. The simulation results in noisy environment, demonstrate that the proposed method could estimate the phase and magnitude with high accuracy of these channels blindly and without any information about the input, except that the input excitation is identically and independent distribute (i.i.d) and non-Gaussian.

Keywords: System Identification, Higher Order Statistics, Communication Channels.

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Authors: Fattah Alizadeh, Saeed Nalousi, Chiman Savari

Abstract:

Because of increasing demands for security in today-s society and also due to paying much more attention to machine vision, biometric researches, pattern recognition and data retrieval in color images, face detection has got more application. In this article we present a scientific approach for modeling human skin color, and also offer an algorithm that tries to detect faces within color images by combination of skin features and determined threshold in the model. Proposed model is based on statistical data in different color spaces. Offered algorithm, using some specified color threshold, first, divides image pixels into two groups: skin pixel group and non-skin pixel group and then based on some geometric features of face decides which area belongs to face. Two main results that we received from this research are as follow: first, proposed model can be applied easily on different databases and color spaces to establish proper threshold. Second, our algorithm can adapt itself with runtime condition and its results demonstrate desirable progress in comparison with similar cases.

Keywords: face detection, skin color modeling, color, colorfulimages, face recognition.

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Authors: A. K. Al-Othman, F. S. Al-Fares, K. M. EL-Nagger

Abstract:

This paper presents a new optimization technique based on quantum computing principles to solve a security constrained power system economic dispatch problem (SCED). The proposed technique is a population-based algorithm, which uses some quantum computing elements in coding and evolving groups of potential solutions to reach the optimum following a partially directed random approach. The SCED problem is formulated as a constrained optimization problem in a way that insures a secure-economic system operation. Real Coded Quantum-Inspired Evolution Algorithm (RQIEA) is then applied to solve the constrained optimization formulation. Simulation results of the proposed approach are compared with those reported in literature. The outcome is very encouraging and proves that RQIEA is very applicable for solving security constrained power system economic dispatch problem (SCED).

Keywords: State Estimation, Fuzzy Linear Regression, FuzzyLinear State Estimator (FLSE) and Measurements Uncertainty.

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Authors: Martin Bader

Abstract:

During the last years, the genomes of more and more species have been sequenced, providing data for phylogenetic recon- struction based on genome rearrangement measures. A main task in all phylogenetic reconstruction algorithms is to solve the median of three problem. Although this problem is NP-hard even for the sim- plest distance measures, there are exact algorithms for the breakpoint median and the reversal median that are fast enough for practical use. In this paper, this approach is extended to the transposition median as well as to the weighted reversal and transposition median. Although there is no exact polynomial algorithm known even for the pairwise distances, we will show that it is in most cases possible to solve these problems exactly within reasonable time by using a branch and bound algorithm.

Keywords: Comparative genomics, genome rearrangements, me-dian, reversals, transpositions.

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Authors: Pei-Chann Chang, Wei-Hsiu Huang, Ching-Jung Ting, Hwei-Wen Luo, Yu-Peng Yu

Abstract:

Artificial Immune System is applied as a Heuristic Algorithm for decades. Nevertheless, many of these applications took advantage of the benefit of this algorithm but seldom proposed approaches for enhancing the efficiency. In this paper, a Self-evolving Artificial Immune System is proposed via developing the T and B cell in Immune System and built a self-evolving mechanism for the complexities of different problems. In this research, it focuses on enhancing the efficiency of Clonal selection which is responsible for producing Affinities to resist the invading of Antigens. T and B cell are the main mechanisms for Clonal Selection to produce different combinations of Antibodies. Therefore, the development of T and B cell will influence the efficiency of Clonal Selection for searching better solution. Furthermore, for better cooperation of the two cells, a co-evolutional strategy is applied to coordinate for more effective productions of Antibodies. This work finally adopts Flow-shop scheduling instances in OR-library to validate the proposed algorithm.

Keywords: Artificial Immune System, Clonal Selection, Flow-shop Scheduling Problems, Co-evolutional strategy

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Authors: P. K. Panigrahi, Saradindu Ghosh, Dayal R. Parhi

Abstract:

Now-a-days autonomous mobile robots have found applications in diverse fields. An autonomous robot system must be able to behave in an intelligent manner to deal with complex and changing environment. This work proposes the performance of path planning and navigation of autonomous mobile robot using Gravitational Search Algorithm (GSA), Simulated Annealing (SA) and Particle Swarm optimization (PSO) based intelligent controllers in an unstructured environment. The approach not only finds a valid collision free path but also optimal one. The main aim of the work is to minimize the length of the path and duration of travel from a starting point to a target while moving in an unknown environment with obstacles without collision. Finally, a comparison is made between the three controllers, it is found that the path length and time duration made by the robot using GSA is better than SA and PSO based controllers for the same work.

Keywords: Autonomous Mobile Robot, Gravitational Search Algorithm, Particle Swarm Optimization, Simulated Annealing Algorithm.

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Authors: Ali Rafiee, Ahad Salimi, Ali Reza Roosta

Abstract:

Prostate cancer is one of the most frequent cancers in men and is a major cause of mortality in the most of countries. In many diagnostic and treatment procedures for prostate disease accurate detection of prostate boundaries in transrectal ultrasound (TRUS) images is required. This is a challenging and difficult task due to weak prostate boundaries, speckle noise and the short range of gray levels. In this paper a novel method for automatic prostate segmentation in TRUS images is presented. This method involves preprocessing (edge preserving noise reduction and smoothing) and prostate segmentation. The speckle reduction has been achieved by using stick filter and top-hat transform has been implemented for smoothing. A feed forward neural network and local binary pattern together have been use to find a point inside prostate object. Finally the boundary of prostate is extracted by the inside point and an active contour algorithm. A numbers of experiments are conducted to validate this method and results showed that this new algorithm extracted the prostate boundary with MSE less than 4.6% relative to boundary provided manually by physicians.

Keywords: Prostate segmentation, stick filter, neural network, active contour.

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