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A Microcontroller-Controlled Optocoupler-Based Memristor Emulator and Its Usage in a Low-Pass Filter 基于微控制器控制光耦合器的晶闸管仿真器及其在低通滤波器中的应用
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2024-01-25 DOI: 10.1007/s40998-023-00694-7
Mendi Arapi, Ertuğrul Karakulak, Reşat Mutlu

A nonlinear circuit element called a memristor has become a popular research area today. Circuits that mimic the behavior of a memristor are called memristor emulators. There are many different types of memristor emulators made. There are also optoelectronic memristor emulators in the literature, albeit in small numbers. In this study, a microcontroller-controlled memristor emulator with a hand-made optocoupler was designed. The circuit is made using an inexpensive microcontroller, the STM32F103RB microcontroller. The emulator made was used in the design of an LP filter with an adjustable cutoff frequency of low and high pass. The operation of the emulator and the filter has been studied experimentally. Experimental results show that the emulator and the LP filter circuits perform well.

一种名为忆阻器的非线性电路元件已成为当今的热门研究领域。模仿忆阻器行为的电路被称为忆阻器仿真器。忆阻器仿真器有很多种。文献中也有光电忆阻器仿真器,但数量很少。在这项研究中,我们设计了一种由微控制器控制的忆阻器仿真器,它带有一个手工制作的光耦合器。该电路使用廉价的微控制器 STM32F103RB 制作。仿真器用于设计一个低通和高通截止频率可调的 LP 滤波器。实验研究了仿真器和滤波器的运行情况。实验结果表明,仿真器和 LP 滤波器电路性能良好。
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引用次数: 0
Design of an Innovative Structure for DC Electric Spring Based on Fully Isolated Three-Port Converter 基于全隔离三端口转换器的直流电簧创新结构设计
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2024-01-22 DOI: 10.1007/s40998-023-00692-9
Mostafa Mobarak, Mehdi Saradarzadeh, Iman Pourfar

The adjustment of DC bus voltage is one of the most critical challenges in DC microgrids. Any changes in power generation or load leads to voltage fluctuation. Recently, the DC electric spring (DCES) has been suggested for bus voltage adjustment and maintaining the DC network stability. An electric spring is a power electronic converter that adjusts the voltage of critical loads (sensitive loads) by utilizing the variations in the power of non-critical loads (insensitive loads). In this paper, a new structure of DCES, based on a fully isolated three-port converter (TPC), is presented. The proposed structure not only solves the issues associated with conventional structures, but it also provides isolation between critical and non-critical loads, as well as the battery energy storage system. Furthermore, the separate control of each port converter ensures that DCES has the required dynamic performance to keep a stable critical load voltage. Utilizing the suggested DCES structure produces an adequate voltage range for non-critical loads, reducing battery sizing and minimizing converter losses. The performance and feasibility of the three-port DC electric spring (TP-DCES) and its control method are acknowledged by the simulations carried out by the MATLAB/SIMULINK software for various scenarios.

直流母线电压的调整是直流微电网中最关键的挑战之一。发电或负载的任何变化都会导致电压波动。最近,有人建议使用直流电动弹簧(DCES)来调节母线电压并保持直流电网的稳定性。电动弹簧是一种电力电子变流器,它利用非关键负载(不敏感负载)的功率变化来调节关键负载(敏感负载)的电压。本文提出了一种基于全隔离三端口转换器(TPC)的 DCES 新结构。所提出的结构不仅解决了与传统结构相关的问题,还实现了关键负载和非关键负载以及电池储能系统之间的隔离。此外,对每个端口转换器的单独控制可确保 DCES 具有所需的动态性能,以保持稳定的临界负载电压。利用建议的 DCES 结构,可为非关键负载提供足够的电压范围,减少电池尺寸,并将转换器损耗降至最低。MATLAB/SIMULINK 软件针对各种情况进行的仿真证实了三端口直流电弹簧(TP-DCES)及其控制方法的性能和可行性。
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引用次数: 0
A Novel Diode Rectifier with a Series Connected Chopper for Reduced Input Current THD 带串联斩波器的新型二极管整流器,可降低输入电流 THD
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2024-01-07 DOI: 10.1007/s40998-023-00689-4
Tanveer Abbas, Noman Khan, Muhammad Sarmad Afzal

Rectifiers are generally categorized as passive and active rectifiers. Compared to the active rectifiers (e.g. pulse width modulated (PWM) rectifiers), passive rectifiers (i.e., diode rectifiers) result in higher total harmonic distortion (THD) in the input current. However, passive rectifiers are simpler than the active rectifiers in their hardware and control structure. Therefore, passive rectifiers are still considered with different THD minimization schemes. In industry, three-phase diode rectifiers are used in 6-pulse, 12-pulse, 18-pulse, and 24-pulse configurations with THD values of 30%, 15%, 10%, and 6%, respectively. Single-phase diode rectifiers result in a higher THD of 48%. Minimization of THD for single-phase rectifiers is a conspicuous need for increasing DC appliances for domestic use. This paper proposes a novel rectifier using a conventional diode bridge followed by a series chopper. A controlled conduction angle of the chopper significantly reduces the THD from 48 to 28%. The THD is further reduced to 16.4% on the primary side of the distribution transformer after the elimination of triple-n harmonics in a balanced configuration. The proposed topology uses a single switch operating at the line frequency making the circuit and control much simpler than a PWM rectifier, and the dynamic power loss is also low. So, the proposed topology is better suited for single-phase applications requiring circuit and control simpler than a PWM rectifier, and THD much lower than a conventional diode bridge rectifier. A comprehensive analytical analysis, circuit simulations, power loss analysis, and experimental results are presented for the proposed topology to validate its working and evaluate its performance.

整流器一般分为无源整流器和有源整流器。与有源整流器(如脉宽调制(PWM)整流器)相比,无源整流器(即二极管整流器)的输入电流总谐波失真(THD)较高。不过,无源整流器在硬件和控制结构上比有源整流器简单。因此,无源整流器仍采用不同的 THD 最小化方案。在工业中,三相二极管整流器采用 6 脉冲、12 脉冲、18 脉冲和 24 脉冲配置,THD 值分别为 30%、15%、10% 和 6%。单相二极管整流器的总谐波失真较高,为 48%。最大限度地降低单相整流器的总谐波失真(THD)是日益增多的家用直流电器的显著需求。本文提出了一种新型整流器,使用传统二极管桥接串联斩波器。通过控制斩波器的导通角,可将总谐波失真(THD)从 48% 显著降至 28%。在平衡配置中消除三n 次谐波后,配电变压器一次侧的总谐波失真进一步降低到 16.4%。拟议的拓扑结构使用单个开关,工作在线路频率上,因此电路和控制比 PWM 整流器简单得多,动态功率损耗也较低。因此,所提出的拓扑结构更适用于要求电路和控制比 PWM 整流器更简单、总谐波失真(THD)比传统二极管桥式整流器更低的单相应用。本文介绍了拟议拓扑结构的综合分析、电路仿真、功率损耗分析和实验结果,以验证其工作原理并评估其性能。
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引用次数: 0
Performance and Stability Analysis of Enhanced Lyapunov Function and Predictive Voltage Control with Active Damping for Single-Phase PV/Grid Electric Power System 单相光伏/电网电力系统的增强型 Lyapunov 函数和带主动阻尼的预测电压控制的性能和稳定性分析
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2024-01-07 DOI: 10.1007/s40998-023-00686-7

Abstract

As the world increasingly turns to renewable energy sources, the integration of solar photovoltaic (PV) systems into the grid has emerged as a pivotal solution. Effective control methods are paramount to harnessing the full potential of these grid-connected PV systems. While existing control methods have laid a foundation, there persists a compelling need for innovative approaches capable of surpassing the limitations of conventional methods. This paper introduces a novel nonlinear control approach utilizing an enhanced Lyapunov function for a single-phase PV/grid electric power system. High-performance operation of the solar PV system, interfacing with a grid-connected single-stage inverter, is achieved through the control of maximum PV voltage using predictive voltage control for MPPT. The enhanced Lyapunov function maintains PV voltage stability at the dc-bus by treating the difference between PV voltage and its reference as a controlled state error. Notably, this approach ensures the stability of the closed-loop PV system even under varying solar irradiances. To achieve full active power injection into the grid with high quality, the proposed enhanced Lyapunov function is augmented by integrating an LCL filter with virtual resistance as an active damping circuit for grid current feedback control. This integration introduces an opposing current to the grid-side inductance current. This compensation mechanism corrects the q-axis grid current using the dq-SRF mathematical model of the global PV/grid system. The LCL parameters and virtual resistance design methods are provided. The effectiveness of the enhanced Lyapunov function is demonstrated through simulations using MATLAB/Simulink software. The results showcase outstanding performance when compared to conventional Lyapunov function and sliding mode control strategies in achieving key objectives, including zero state errors, global stability, and the generation of a sinusoidal grid current signal with low total harmonic distortion and the unit power factor at the point of common coupling.

摘要 随着全球越来越多地转向可再生能源,太阳能光伏(PV)系统并入电网已成为一个关键的解决方案。要充分利用这些并网光伏系统的潜力,有效的控制方法至关重要。虽然现有的控制方法已经奠定了基础,但仍然迫切需要能够超越传统方法局限性的创新方法。本文介绍了一种新型非线性控制方法,该方法利用增强型 Lyapunov 函数来控制单相光伏/并网发电系统。通过使用预测电压控制 MPPT 来控制最大光伏电压,实现了与并网单级逆变器连接的太阳能光伏系统的高性能运行。增强型 Lyapunov 函数将光伏电压与其参考电压之间的差值视为受控状态误差,从而保持直流母线上光伏电压的稳定性。值得注意的是,即使在太阳辐照度变化的情况下,这种方法也能确保闭环光伏系统的稳定性。为了高质量地向电网注入全部有功功率,通过集成具有虚拟电阻的 LCL 滤波器作为电网电流反馈控制的有源阻尼电路,增强了所提出的增强型 Lyapunov 函数。这种集成为电网侧电感电流引入了一个相反的电流。这种补偿机制利用全球光伏/电网系统的 dq-SRF 数学模型修正 q 轴电网电流。提供了 LCL 参数和虚拟电阻设计方法。通过使用 MATLAB/Simulink 软件进行仿真,证明了增强型 Lyapunov 函数的有效性。结果表明,与传统的 Lyapunov 函数和滑动模式控制策略相比,该方法在实现关键目标方面具有出色的性能,包括零状态误差、全局稳定性,以及在共耦点产生具有低总谐波失真和单位功率因数的正弦电网电流信号。
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引用次数: 0
Design and Simulation of Square Aperture Multi-hole Legendre Waveguide Directional Couplers 方形孔径多孔 Legendre 波导定向耦合器的设计与仿真
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2024-01-04 DOI: 10.1007/s40998-023-00688-5
Mohammad Sanad AlTaher, Nihad Dib

Waveguide directional couplers are fundamental microwave devices that are commonly used in routing RF signals to different ports within a waveguide network. Waveguides are coupled through apertures in a common wall between them. The shape and size of these apertures can be varied for certain coupling factors and to produce specific directivity patterns. This research applies the superformula in transitioning from circular apertures to square ones. Additionally, a novel approach to using the Legendre polynomials in sizing the apertures is discussed. Comparisons of the simulation results of Chebyshev and Legendre couplers show that Legendre couplers generally give a flatter directivity pattern for an equivalent coupling factor at 17.4 dB and bandwidth of 4 GHz centered at around 9 GHz. Moreover, square apertures are found to be noticeably superior to circular ones in their frequency response as they maintain a similar bandwidth of and higher directivity at an average of over 50 dB, but suffer poorer coupling factors, which increase by 6 dB.

波导定向耦合器是一种基本的微波设备,通常用于将射频信号路由到波导网络中的不同端口。波导通过波导之间共用壁上的孔隙耦合。这些孔径的形状和大小可以根据特定的耦合系数而变化,并产生特定的指向性模式。这项研究将超公式应用于从圆形孔径到方形孔径的过渡。此外,还讨论了使用 Legendre 多项式确定孔径大小的新方法。对切比雪夫耦合器和勒让德耦合器的模拟结果进行比较后发现,在等效耦合系数为 17.4 dB、带宽为 4 GHz、中心频率为 9 GHz 左右的情况下,勒让德耦合器通常具有更平坦的指向性模式。此外,方形孔径的频率响应明显优于圆形孔径,因为它们能保持相似的带宽和平均超过 50 dB 的较高指向性,但耦合系数较差,增加了 6 dB。
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引用次数: 0
Sliding Mode Pulse-Width Modulation-Based Direct Toque Control for Nine-Switch Inverter Dual-Induction Motor Drive 基于滑动模式脉宽调制的九开关变频器双感应电机驱动器直接转矩控制
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2024-01-03 DOI: 10.1007/s40998-023-00687-6
Mohamed Bounadja, Abdelkader Djahbar

This paper proposes sliding mode pulse-width modulation (SMPWM) for the nine-switch inverter (NSI) as solution for the main drawback of voltage and current distortion. The proposed modulation is based on Lyapunov approach and can directly trigger the nine switches without restrictions and regardless of the operation frequency modes. SMPWM along with modified direct torque control-based sliding mode approach is designed for NSI driving dual-induction motor to obtain fixed switching frequency and low torque ripple. Stability analysis is carried out for each proposed method, and convergence condition depends on the value of dc-bus voltage that can be achieved. The feasibility of the proposed control is verified under load and speed conditions through simulation results.

本文提出了九开关逆变器(NSI)的滑模脉宽调制(SMPWM),以解决电压和电流失真的主要缺点。所提出的调制基于 Lyapunov 方法,可直接触发九个开关,不受任何限制,也不受工作频率模式的影响。针对驱动双感应电机的 NSI,设计了 SMPWM 以及改进的基于滑动模式的直接转矩控制方法,以获得固定的开关频率和较低的转矩纹波。对每种拟议方法进行了稳定性分析,收敛条件取决于可实现的直流母线电压值。通过仿真结果验证了拟议控制在负载和速度条件下的可行性。
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引用次数: 0
Fermatean Fuzzy Similarity Measures-Based Group Decision-Making Algorithm and Its Application to Dengue Disease 基于模糊相似度的群体决策算法及其在登革热病中的应用
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2024-01-02 DOI: 10.1007/s40998-023-00685-8
Harish Garg, Faiz Muhammad Khan, Waqas Ahmed

The Fermatean fuzzy set (FFS) is an effective and robust technique for handling ambiguity, to deal with issues that can’t be resolved using the concepts of Intuitionistic fuzzy set and Pythagorean fuzzy set. Due to its essential uses and crucial significance in solving insoluble real-world problems in a variety of sectors, FFS has generated a maze of research since its inception. In this elaborative study, we establish a clear definition for the concept of similarity measures along with their essential qualities in the context of FFS. Additionally, we introduced a group decision-making algorithm grounded in the suggested similarity measures to tackle the issues. The attribute weights are determined by utilizing the newly introduced similarity measures as part of the process. The credibility of the algorithm is demonstrated through a case of dengue diseases and a comparison of its results with some of the existing studies.

费尔马特模糊集(FFS)是一种处理模糊性的有效而稳健的技术,用于处理直觉模糊集和毕达哥拉斯模糊集概念无法解决的问题。由于其在解决各行各业无法解决的实际问题中的重要用途和关键意义,FFS 自诞生以来就引发了大量研究。在这篇详尽的研究中,我们对相似性度量的概念及其在 FFS 中的基本特征进行了明确的定义。此外,我们还引入了一种以建议的相似性度量为基础的群体决策算法来解决这些问题。在这一过程中,将利用新引入的相似性度量来确定属性权重。通过登革热疾病的案例及其与一些现有研究结果的比较,证明了该算法的可信度。
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引用次数: 0
Determining the Freshness of Living Tissue Using an Accurate and Sensitive Microwave Sensor 利用精确灵敏的微波传感器确定活体组织的新鲜度
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2023-12-26 DOI: 10.1007/s40998-023-00684-9
Moein Navaei, Pejman Rezaei

In the following manuscript, an original microwave sensor is planned to detect the meat's dielectric changes, as a type of tissue. The presented sensor is created in the model of a microstrip structure and consists of U-shaped, meander, and waterfall parts. If a liquid sample is located on the sensor at the sensing location, it can measure permittivity changes. For this, a resonance is formed in the free-load sensor at 3.2 GHz frequency then when the sample touches the sensor, according to the amount of relative dielectric changes of the desired sample, the sensor resonance frequency is shifted. To determine the sensitivity of the proposed sensor, water–methanol solution samples are used and as a result, its Q-factor and sensitivity are 5346 and 2.36%, respectively. Then, three samples of sheep, fish, and chicken meats are measured by the proposed sensor, and with time, the measurement is repeated, and the results are analyzed. With this method, the freshness of the meat is evaluated. It is possible to use the proposed sensor in the food production industry and can determine the exact postmortem time of all types of meat with high speed and accuracy.

在下面的手稿中,我们计划用一种独创的微波传感器来检测肉类作为一种组织的介电变化。该传感器以微带结构为模型,由 U 型、蜿蜒型和瀑布型三部分组成。如果液体样本位于传感器的感应位置,它就能测量介电常数的变化。为此,自由负载传感器在 3.2 GHz 频率上形成共振,当样品接触传感器时,根据所需样品的相对介电变化量,传感器共振频率会发生偏移。为了确定拟议传感器的灵敏度,使用了水-甲醇溶液样品,结果其 Q 因子和灵敏度分别为 5346 和 2.36%。然后,用该传感器测量羊肉、鱼肉和鸡肉的三个样本,并随着时间的推移重复测量,分析结果。通过这种方法,可以评估肉类的新鲜度。拟议的传感器可用于食品生产行业,并能高速、准确地确定各类肉类的确切宰后时间。
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引用次数: 0
A Power Factor Corrector Boost Converter Based Memristor Emulator 基于 Memristor 仿真器的功率因数校正升压转换器
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2023-12-19 DOI: 10.1007/s40998-023-00679-6
Ahmet Güloğlu, Şuayb Çağrı Yener, Reşat Mutlu

Analog and digital circuits are used to make memristor emulators. Power electronics circuits use switching to obtain the desired waveforms. A single-phase power factor corrector circuit is a well-known power electronics circuit. This study shows that a single-phase power factor corrector circuit can be used as a memristor emulator. To the best of our knowledge, there is no memristor emulator circuit made in this way in literature yet. This circuit employs a boost converter placed after the full-wave bridge rectifier. The power switch of the converter is controlled to obtain the desired memristive behavior by a microcontroller, STM32F429ZIT6. The circuit operation is examined using simulations and experiments. Also, a comparison is given between the proposed emulator and the other memristor emulators in the literature. Although the proposed emulator is able to emulate different memristor models described with varying window functions, only the results of the Biolek model are given due to space considerations. The circuit performs well and can easily emulate other memristor models after modification of its firmware for their window functions.

模拟和数字电路用于制造忆阻器仿真器。电力电子电路利用开关来获得所需的波形。单相功率因数校正器电路是一种著名的电力电子电路。本研究表明,单相功率因数校正器电路可用作忆阻器仿真器。据我们所知,目前还没有文献采用这种方式制作忆阻器仿真器电路。该电路采用了一个置于全波桥式整流器之后的升压转换器。转换器的电源开关由微控制器 STM32F429ZIT6 控制,以获得所需的忆阻器行为。电路运行情况通过模拟和实验进行了检验。此外,还对所提出的仿真器与文献中的其他忆阻器仿真器进行了比较。尽管所提出的仿真器能够仿真以不同窗口函数描述的不同忆阻器模型,但由于篇幅有限,仅给出了 Biolek 模型的结果。该电路性能良好,在根据窗口函数修改固件后,可以轻松仿真其他忆阻器模型。
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引用次数: 0
Automatically Finding the Biggest Fold Value for More Accurate Classification and Diagnosis in Machine Learning Algorithms 在机器学习算法中自动寻找最大折叠值以实现更准确的分类和诊断
IF 2.4 4区 工程技术 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2023-12-18 DOI: 10.1007/s40998-023-00682-x
Emre Avuçlu

Correct diagnosis in medicine is of great importance as it is one of the most important issues in medicine. Today, researchers have embarked on many new searches to make an accurate medical diagnosis. In order for any disease to be cured, it is necessary to define it precisely early and accurately. In this study, a new method was proposed to make a more accurate medical diagnosis. This method is based on automatically selecting the fold with the best accuracy rate after k-fold crossvalidation is performed in any database. In this way, scientific studies that lead to more accurate results will be carried out by using the fold with the highest accuracy in both classification and medical diagnosis procedures. This method has been applied on two different databases, Ecoli and Wisconsin Breast Cancer Diagnostic (WBCD) databases, which are used in scientific studies by many researchers in the literature. The statistical measurements of each fold values of both databases used have been examined in detail. Diagnostics for these databases were carried out using 7 different Machine Learning Algorithms (MLA), (k nearest neighbor (k-NN), Decision Tree (DT), Random Forest (RF), Multinominal Logistic Regression (MLR), Naive Bayes (NB), Support Vector Machine (SVM), Minumum (Mean) Distance Classifier (MMDC)). In the test procedures for Ecoli dataset, the following accuracy values were obtained for k-NN, DT, RF, MLR, NB, SVM, MMDC, respectively; 0.8485, 0.8358, 0.9848, 0.8182, 0.6667, 0.8636, 0.7424. For the WBCD database, the following accuracy values were obtained for k-NN, DT, RF, MLR, NB, SVM, MMDC, respectively; 0.9856, 0.9568, 0.9784, 0.9856, 0.9856, 0.9856, 0.9784. Other results were given in detail in the experimental studies section. It is of great importance to choose the most accurate MLAs to be used in medical diagnosis for human life. Thus, in the studies to be done with MLAs in medicine or any field in the literature, how the best score that can be obtained from MLAs will be introduced to the literature. In this study, an original study was conducted on how to make the correct medical diagnosis, which is one of the most important issues for human life.

正确的医学诊断非常重要,因为它是医学中最重要的问题之一。如今,研究人员已经开始了许多新的探索,以做出准确的医学诊断。要想治愈任何疾病,就必须及早准确地界定疾病。在这项研究中,提出了一种新方法来进行更准确的医学诊断。这种方法的基础是在任何数据库中进行 k 倍交叉验证后,自动选择准确率最高的折叠。这样,在分类和医疗诊断程序中使用准确率最高的折叠,就能进行科学研究,得出更准确的结果。该方法已应用于两个不同的数据库,即 Ecoli 和威斯康星乳腺癌诊断(WBCD)数据库,这些数据库在科学研究中被许多研究人员在文献中使用。我们详细研究了这两个数据库中每个折叠值的统计测量结果。对这些数据库的诊断使用了 7 种不同的机器学习算法(MLA)(k 近邻算法(k-NN)、决策树算法(DT)、随机森林算法(RF)、多义逻辑回归算法(MLR)、奈夫贝叶斯算法(NB)、支持向量机算法(SVM)、最小(平均)距离分类器算法(MMDC))。在生态大肠杆菌数据集的测试程序中,k-NN、DT、RF、MLR、NB、SVM、MMDC 的准确率分别为 0.8485、0.8358、0.9848、0.8182、0.6667、0.8636、0.7424。在 WBCD 数据库中,k-NN、DT、RF、MLR、NB、SVM、MMDC 的准确度值分别为 0.9856、0.9568、0.9784、0.9856、0.9856、0.9784。其他结果详见实验研究部分。选择最准确的工作重点用于医学诊断对人类生命至关重要。因此,在医学或任何领域的文献中对 MLA 进行研究时,都会介绍如何从 MLA 中获得最佳分数。本研究对如何做出正确的医学诊断进行了原创性研究,这是人类生活中最重要的问题之一。
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引用次数: 0
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Iranian Journal of Science and Technology-Transactions of Electrical Engineering
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