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2011 11th International Conference on Intelligent Systems Design and Applications最新文献

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Quasi-static object manipulation by mobile robot: Optimal motion planning using GA 移动机器人准静态目标操纵:基于遗传算法的最优运动规划
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121655
Hossein Barghijand, A. Akbarimajd, J. Keighobadi
Quasi-static object manipulation using a wheeled mobile robot is studied. For a mobile robot, as a typical set-up for transportation of objects, dynamic grasp problem is defined. It is assumed that the robot moves along a straight path and carries an object on its upper surface and the object should not move relative to the robot (dynamic grasp problem). It is also assumed that the robot has limited wheel motors torque. It is shown that to preserve dynamic grasp between the object and the robot, acceleration of the robot has to remain in a specified range. A third order polynomial for position equation of the mobile robot is selected and dynamic grasp and torque conditions are sketched as a constraint on acceleration of the robot. An optimization problem is proposed to find the optimal motion of the robot. A genetic algorithm is proposed to solve the optimization problem. The solutions are validated by simulations in MSC-ADAMS and MATLAB in general case of the optimization problem and also in minimum time, maximum distance and minimum energy problems as special cases of the general problem.
研究了轮式移动机器人对准静态物体的操纵。对于移动机器人,动态抓取问题是一种典型的物体搬运机构。假设机器人沿直线运动并在其上表面携带物体,物体不应相对于机器人移动(动态抓取问题)。同时假设机器人的轮式电机转矩有限。研究表明,为了保持物体与机器人之间的动态抓取,机器人的加速度必须保持在一定范围内。选择了移动机器人位置方程的三阶多项式,并给出了动态抓取和力矩条件作为机器人加速度的约束条件。提出了求解机器人最优运动的优化问题。提出了一种遗传算法来解决优化问题。通过在MSC-ADAMS和MATLAB中对优化问题的一般情况以及作为一般问题的特殊情况的最小时间、最大距离和最小能量问题进行了仿真验证。
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引用次数: 3
Multi-constrained route optimization for Electric Vehicles (EVs) using Particle Swarm Optimization (PSO) 基于粒子群算法的电动汽车多约束路径优化
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121687
U. F. Siddiqi, Y. Shiraishi, S. M. Sait
Route optimization (RO) is an important feature of the Electric Vehicles (EVs) which is responsible for finding optimized paths between any source and destination nodes in the road network. In this paper, the RO problem of EVs is solved by using the Multi Constrained Optimal Path (MCOP) approach. The proposed MCOP problem aims to minimize the length of the path and meets constraints on total travelling time, total time delay due to signals, total recharging time, and total recharging cost. The Penalty Function method is used to transform the MCOP problem into unconstrained optimization problem. The unconstrained optimization is performed by using a Particle Swarm Optimization (PSO) based algorithm. The proposed algorithm has innovative methods for finding the velocity of the particles and updating their positions. The performance of the proposed algorithm is compared with two previous heuristics: H_MCOP and Genetic Algorithm (GA). The time of optimization is varied between 1 second (s) and 5s. The proposed algorithm has obtained the minimum value of the objective function in at-least 9.375% more test instances than the GA and H_MCOP
路线优化(Route optimization, RO)是电动汽车的一个重要特征,它负责在道路网络的任何源节点和目的节点之间寻找最优路径。本文采用多约束最优路径(MCOP)方法求解电动汽车的RO问题。提出的MCOP问题以路径长度最小为目标,满足总行驶时间、总信号时延、总充电时间和总充电费用约束。采用罚函数法将MCOP问题转化为无约束优化问题。采用基于粒子群算法(PSO)的无约束优化算法。该算法在寻找粒子速度和更新粒子位置方面具有创新的方法。将该算法的性能与H_MCOP和遗传算法进行了比较。优化时间在1秒到5秒之间变化。该算法比遗传算法和H_MCOP算法获得的目标函数最小值至少多出9.375%的测试实例
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引用次数: 44
A sequantial distributed approach for the joint scheduling of jobs and maintenance operations in the flowshop sequencing problem 流水车间排序问题中作业和维修作业联合调度的一种顺序分布式方法
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121692
S. Khelifati, F. Benbouzid-Sitayeb
Many works refer to the scheduling problem of both preventive maintenance and production activities. Few works concern the dynamic scheduling problem of these two activities. This aspect is mainly concerned by corrective maintenance activities (equipment failure). In this regard, we propose a distributed approach using multi-agent paradigm for scheduling independent jobs and maintenance operations in the flowshop sequencing problem. The proposed multi-agent system introduces a dialogue between two communities of agents (production and maintenance) based on a two-step sequential strategy: first scheduling the production jobs then inserting the preventive maintenance operations, taking the production schedule as a mandatory constraint, to generate a joint production and maintenance schedule. The objective is then to optimize a bi-objective function which takes into account both maintenance and production criterion. It also provides a framework in order to react to the disturbances occurring in the workshop. The main point is to show how the proposed multi-agent system provides a better compromise between the satisfactions of respective objectives of the two functions.
许多工作涉及预防性维修和生产活动的调度问题。很少有研究关注这两种活动的动态调度问题。这方面主要涉及纠正性维护活动(设备故障)。在这方面,我们提出了一种使用多智能体范式来调度独立作业和维护操作的分布式方法。提出的多智能体系统基于两步顺序策略引入了两个智能体群体(生产和维护)之间的对话:首先调度生产作业,然后插入预防性维护操作,将生产计划作为强制约束,生成联合生产和维护计划。然后,目标是优化一个考虑到维护和生产标准的双目标函数。它还提供了一个框架,以便对车间中发生的干扰作出反应。本文的重点是展示所提出的多智能体系统如何在两个功能的各自目标的满足之间提供更好的折衷。
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引用次数: 2
Probabilistic Bayesian network classifier for face recognition in video sequences 基于概率贝叶斯网络分类器的视频序列人脸识别
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121770
John See
The inherent properties of video sequences allow for representation of data in both spatial and temporal dimensions. Using conventional image-based methods for face recognition in video is often an ineffective approach as the essential spatio-temporal properties are not fully harnessed. This paper proposes a probabilistic Bayesian network classifier to accomplish effective recognition of faces in video sequences. In our model, we introduce a joint probability function that encodes the causal dependencies between video frames, selected exemplars or representative images of a video, and subject classes. This enables both the temporal continuity between video frames and also the spatial relationships between exemplars and their respective exemplar-set classes to be captured. To simplify the tedious estimation of densities, the proposed method also utilizes probabilistic similarity scores that are computationally inexpensive. Good recognition rates were achieved by our proposed method in comprehensive experiments conducted on two standard face video datasets.
视频序列的固有属性允许在空间和时间维度上表示数据。使用传统的基于图像的方法进行视频人脸识别往往是一种无效的方法,因为基本的时空特性没有得到充分利用。本文提出了一种概率贝叶斯网络分类器来实现视频序列中人脸的有效识别。在我们的模型中,我们引入了一个联合概率函数,该函数对视频帧、选定的示例或视频的代表性图像和主题类别之间的因果关系进行编码。这使得视频帧之间的时间连续性以及范例和它们各自的范例集类之间的空间关系都可以被捕获。为了简化单调乏味的密度估计,该方法还利用了计算成本低廉的概率相似分数。在两个标准的人脸视频数据集上进行了综合实验,取得了较好的识别率。
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引用次数: 3
Evaluation of multiobjective swarm algorithms for grid scheduling 网格调度的多目标群算法评价
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121806
María Arsuaga-Ríos, M. A. Vega-Rodríguez, F. Castrillo
Often, solutions to complex problems are found in nature. Swarm algorithms are capable of solving such complex problems by implementing patterns from nature. This patterns are found in a variety of scientific fields. In this paper, we discuss two swarm algorithms extracted from Biology and Physics, namely: Multiobjective Artificial Bee Colony (MOABC) and Multiobjective Gravitational Search Algorithm (MOGSA). The first one is based on bees behavior and the other follows the gravity between masses. These algorithms are implemented to solve the grid scheduling problem. Optimization of job scheduling is one of the most challenging tasks in Grid environments because it severely affects the execution time of an experiment (set of jobs). Experiments often are tied up to fulfill deadlines and budgets. One of the main contributions of this work is adding multiobjective processes to these swarm algorithms to minimize those conflictive objectives. Results show that MOABC clearly improves the MOGSA approach when solving the problem. MOABC is also compared with real grid meta-schedulers as Deadline Budget Constraint (DBC) and Workload Management System (WMS) by using the simulator GridSim to prove the improvement that offers this new algorithm.
通常,复杂问题的解决方案可以在自然界中找到。群算法能够通过实现自然界的模式来解决这样复杂的问题。这种模式在许多科学领域都有发现。本文讨论了从生物学和物理学中提取的两种群体算法,即多目标人工蜂群算法(MOABC)和多目标引力搜索算法(MOGSA)。第一个是基于蜜蜂的行为,另一个是根据质量之间的重力。这些算法是为了解决网格调度问题而实现的。作业调度的优化是网格环境中最具挑战性的任务之一,因为它严重影响一个实验(一组作业)的执行时间。实验通常是为了完成最后期限和预算。这项工作的主要贡献之一是将多目标过程添加到这些群算法中,以最小化这些冲突目标。结果表明,MOABC在解决问题时明显改进了MOGSA方法。利用GridSim仿真器将MOABC算法与实际的网格元调度程序(Deadline Budget Constraint, DBC)和工作量管理系统(Workload Management System, WMS)进行了比较,证明了该算法的改进。
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引用次数: 4
Multiscale edge detection based on the Sobel method 基于Sobel法的多尺度边缘检测
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121732
C. López-Molina, H. Bustince, E. Tartas, A. Jurio, B. Baets
The multiscale techniques for edge detection represent an effort to combine the spatial accuracy of small-scale methods with the ability to deal with spurious responses inherent to the large scale ones. In this work we introduce a multiscale extension of the Sobel method for edge detection based on Gaussian smoothing and fine-to-coarse edge tracking. We include examples illustrating the procedure and its results, as well as some quantitative measurements of the improvement obtained with the multiscale approach with respect to the original one.
边缘检测的多尺度技术是将小尺度方法的空间精度与处理大尺度方法固有的伪响应的能力相结合的一种努力。在这项工作中,我们介绍了基于高斯平滑和精细到粗边缘跟踪的索贝尔边缘检测方法的多尺度扩展。我们包括说明该过程及其结果的例子,以及用多尺度方法相对于原始方法所获得的改进的一些定量测量。
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引用次数: 5
The use of fuzzy decision trees for coffee rust warning in Brazilian crops 模糊决策树在巴西咖啡锈病预警中的应用
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121847
M. E. Cintra, C. A. A. Meira, M. C. Monard, H. Camargo, L. Rodrigues
This paper proposes the use of fuzzy decision trees for coffee rust warning, the most economically important coffee disease in the world. The models were induced using field data collected during 8 years. Using different subsets of attributes from the original data, three distinct datasets were constructed. The class attribute, representing the monthly infection rate, was used to construct six datasets according to two distinct infection rates. Induced models can be used to trigger alerts when estimated monthly disease infection rates reach one of the two thresholds. The first threshold allows applying preventive actions, whereas the second one requires a curative action. The fuzzy decision tree models were compared to the ones induced by a classic decision tree algorithm, taking into account the accuracy and the syntactic complexity of the models, as well as its quality according to an expert opinion. The fuzzy models showed better accuracy power and interpretability.
本文提出将模糊决策树用于咖啡锈病预警,这是世界上最重要的咖啡病害。这些模型是利用8年的野外数据建立的。利用原始数据的不同属性子集,构建了三个不同的数据集。代表月感染率的类别属性根据两种不同的感染率构建了6个数据集。当估计的每月疾病感染率达到两个阈值之一时,可使用诱导模型触发警报。第一个阈值允许采取预防措施,而第二个阈值则需要采取治疗措施。根据专家的意见,将模糊决策树模型与经典决策树算法的模型进行了比较,考虑了模型的准确性和语法复杂性,以及模型的质量。模糊模型具有较好的准确率、可解释性。
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引用次数: 39
Object detection in non-stationary video surveillance for an autonomous vehicle 自动驾驶汽车非静止视频监控中的目标检测
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121736
Néstor Morales, J. Toledo, L. Acosta
In this paper, a new method for the automated video surveillance of wide areas is described. Using the images obtained from a set of cameras installed on an autonomous vehicle, a video surveillance tool has been developed, based on the comparison between images that have been taken in the same place but at different times. The vehicle drives around the watched area, looking for intruders. The method described in this paper is the image comparison system used for this task, and it is based on image registration and change detection techniques. The system has been fully tested, obtaining promising results. The validation process shows the good performance of the methods selected to develop the application. It is also able to be executed in real time with good detection rates.
本文介绍了一种广域自动视频监控的新方法。利用安装在自动驾驶汽车上的一组摄像头获得的图像,通过比较在同一地点不同时间拍摄的图像,开发了一种视频监控工具。车辆在监视区域周围行驶,寻找入侵者。本文描述的方法是用于该任务的图像比较系统,它基于图像配准和变化检测技术。该系统已经过全面测试,取得了良好的效果。验证过程表明所选择的开发应用程序的方法具有良好的性能。它还能够以良好的检测率实时执行。
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引用次数: 7
Evolutionary computation, combined with support vector machines, for gene structure prediction 结合支持向量机进行基因结构预测的进化计算
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121849
Javier Pérez-Rodríguez, N. García-Pedrajas
Gene structure prediction consists of determining which parts of a genomic sequence of the cell are coding, and constructing the whole gene from its start site to its stop codon. Gene recognition is one of the most important open problems in bioinformatics. The subtle sources of evidence and the many pitfalls of the problem make gene recognition in eukaryotes one of the most challenging tasks in this field. Gene recognition may be considered as a search problem, where many evidence sources are combined in a scoring function that must be maximized to obtain the structure of a probable gene. Using an intrinsic method, we propose a combination of evolutionary computation and support vector machines for gene structure prediction. Specifically, we use support vector machines (SVMs) to localize and score the functional sites along the genomic sequence, reducing the search space. Evolutionary computation is used to evolve a population where the individuals are correct gene structures. The flexibility of evolutionary computation can be used to account for the complexities of the problem, which are growing as our knowledge of the molecular processes of transcription and translation deepens. Our results show that with a very simple program we are able to achieve very good accuracies in the recognition of genes in human chromosome 19.
基因结构预测包括确定细胞基因组序列的哪些部分编码,以及构建从起始位点到终止密码子的整个基因。基因识别是生物信息学中最重要的开放性问题之一。证据的微妙来源和问题的许多陷阱使得真核生物的基因识别成为该领域最具挑战性的任务之一。基因识别可以被认为是一个搜索问题,其中许多证据来源组合在一个评分函数中,必须最大化该评分函数以获得可能基因的结构。本文提出了一种将进化计算与支持向量机相结合的基因结构预测方法。具体来说,我们使用支持向量机(svm)对基因组序列中的功能位点进行定位和评分,减少了搜索空间。进化计算用于进化一个种群,其中个体具有正确的基因结构。进化计算的灵活性可以用来解释问题的复杂性,随着我们对转录和翻译的分子过程的了解的加深,问题的复杂性也在增加。我们的结果表明,通过一个非常简单的程序,我们能够在识别人类第19号染色体上的基因方面达到非常高的准确性。
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引用次数: 2
Network clustering by graph coloring: An application to astronomical images 图着色的网络聚类:天文图像的应用
Pub Date : 2011-11-01 DOI: 10.1109/ISDA.2011.6121754
E. Zarrazola, D. Gómez, J. Montero, J. Yáñez, A. I. G. D. Castro
In this paper we propose an efficient and polynomial hierarchical clustering technique for unsupervised classification of items being connected by a graph. The output of this algorithm shows the cluster evolution in a divisive way, in such a way that as soon as two items are included in the same cluster they will join a common cluster until the last iteration, in which all the items belong to a singleton cluster. This output can be viewed as a fuzzy clustering in which for each alpha cut we have a standard cluster of the network. The clustering tool we present in this paper allows a hierarchical clustering of related items avoiding some unrealistic constraints that are quite often assumed in clustering problems. The proposed procedure is applied to a hierarchical segmentation problem in astronomical images.
本文提出了一种高效的多项式层次聚类技术,用于图连接项的无监督分类。该算法的输出以一种分裂的方式显示了集群的进化,在这种方式下,只要两个项目被包含在同一个集群中,它们就会加入一个共同的集群,直到最后一次迭代,其中所有的项目都属于一个单一的集群。这个输出可以看作是一个模糊聚类,其中对于每个alpha cut,我们都有一个网络的标准聚类。我们在本文中提出的聚类工具允许对相关项目进行分层聚类,避免了在聚类问题中经常假设的一些不切实际的约束。将该方法应用于天文图像的分层分割问题。
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引用次数: 2
期刊
2011 11th International Conference on Intelligent Systems Design and Applications
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