A neuro-genetic-simulated annealing approach to the inverse kinematics solution of robots: a simulation based study

In this study, a hybrid intelligent solution system including neural networks, genetic algorithms and simulated annealing has been proposed for the inverse kinematics solution of robotic manipulators. The main purpose of the proposed system is to decrease the end effector error of a neural network based inverse kinematics solution. In the designed hybrid intelligent system, simulated annealing algorithm has been used as a genetic operator to decrease the process time of the genetic algorithm to find the optimum solution. Obtained best solution from the neural network has been included in the initial solution of genetic algorithm with randomly produced solutions. The end effector error has been reduced micrometer levels after the implementation of the hybrid intelligent solution system.     

Multi‐level reranking approach for bug localization

Bug fixing has a key role in software quality evaluation. Bug fixing starts with the bug localization step, in which developers use textual bug information to find location of source codes which have the bug. Bug localization is a tedious and time consuming process. Information retrieval requires understanding the programme's goal, coding structure, programming logic and the relevant attributes of bug. Information retrieval (IR) based bug localization is a retrieval task, where bug reports and source files represent the queries and documents, respectively. In this paper, we propose BugCatcher, a newly developed bug localization method based on multi‐level re‐ranking IR technique. We evaluate BugCatcher on three open source projects with approximately 3400 bugs. Our experiments show that multi‐level reranking approach to bug localization is promising. Retrieval performance and accuracy of BugCatcher are better than current bug localization tools, and BugCatcher has the best Top N, Mean Average Precision (MAP) and Mean Reciprocal Rank (MRR) values for all datasets.     

Functional Diversity,Absorptive Capability and Product Success: The Moderating Role of Project Complexity in New Product Development Teams

Absorptive capability appears to be an appealing concept in the technology and innovation management literature. Though absorptive capability attracts researchers from a variety of disciplines, team‐level empirical research on it is scant. In this study, we operationalized team absorptive capability as a multidimensional construct involving knowledge acquisition, assimilation and exploitation. This study also explores the moderating effect of project complexity between team absorptive capability and new product success. In studying the data from 239 new product development projects using partial least squares structural equation modelling, we found that team functional diversity is a significant determinant of team absorptive capability. Moreover, regarding the relationships between team absorptive capability and new product success, we uncovered that (i) new product success is dependent on the ability to understand the acquired knowledge, and (ii) the teams appear to be more cautious in putting the assimilated knowledge into practice to the extent that project complexity increases.     

Inner approximations of completely positive reformulations of mixed binary quadratic programs: a unified analysis

Every quadratic programming problem with a mix of continuous and binary variables can be equivalently reformulated as a completely positive optimization problem, that is, a linear optimization problem over the convex but computationally intractable cone of completely positive matrices. In this paper, we focus on general inner approximations of the cone of completely positive matrices on instances of completely positive optimization problems that arise from the reformulation of mixed binary quadratic programming problems. We provide a characterization of the feasibility of such an inner approximation as well as the optimal value of a feasible inner approximation. In particular, our results imply that polyhedral inner approximations are equivalent to a finite discretization of the feasible region of the original completely positive optimization problem. Our characterization yields, as a byproduct, an upper bound on the gap between the optimal value of an inner approximation and that of the original instance. We discuss the implications of this error bound for standard and box-constrained quadratic programs as well as general mixed binary quadratic programs with a bounded feasible region.     

Mobile multi-view object image search

High user interaction capability of mobile devices can help improve the accuracy of mobile visual search systems. At query time, it is possible to capture multiple views of an object from different viewing angles and at different scales with the mobile device camera to obtain richer information about the object compared to a single view and hence return more accurate results. Motivated by this, we propose a new multi-view visual query model on multi-view object image databases for mobile visual search. Multi-view images of objects acquired by the mobile clients are processed and local features are sent to a server, which combines the query image representations with early/late fusion methods and returns the query results. We performed a comprehensive analysis of early and late fusion approaches using various similarity functions, on an existing single view and a new multi-view object image database. The experimental results show that multi-view search provides significantly better retrieval accuracy compared to traditional single view search.     

Risk-sensitive control of Markov jump linear systems: Caveats and difficulties

In this technical note, we revisit the risk-sensitive optimal control problem for Markov jump linear systems (MJLSs). We first demonstrate the inherent difficulty in solving the risk-sensitive optimal control problem even if the system is linear and the cost function is quadratic. This is due to the nonlinear nature of the coupled set of Hamilton-Jacobi-Bellman (HJB) equations, stemming from the presence of the jump process. It thus follows that the standard quadratic form of the value function with a set of coupled Riccati differential equations cannot be a candidate solution to the coupled HJB equations. We subsequently show that there is no equivalence relationship between the problems of risk-sensitive control and H ^∞ control of MJLSs, which are shown to be equivalent in the absence of any jumps. Finally, we show that there does not exist a large deviation limit as well as a risk-neutral limit of the risk-sensitive optimal control problem due to the presence of a nonlinear coupling term in the HJB equations.

     

Evaluation of a university website’s usability for visually impaired students

Today websites are the tools most commonly used to access information. People with disabilities face difficulties accessing or using information, and the importance of website usability in their lives needs to be recognized. Visually impaired students need to be able to use university websites that inform them about the opportunities and events taking place on campus. This study aims to evaluate the usability of a university website by visually impaired students. In this research, six visually impaired students were interviewed. The assistive technologies they use, as well as the various web pages they wished to use unaided were identified. Following data collection, usability tests were conducted and satisfaction surveys were completed. The usability test was done with five visually impaired students. They were asked to think aloud while performing 11 tasks involving their university’s web pages, including the main page and the pages of student affairs, library and departments and then to accomplish these tasks. In this test, five tasks were not successfully completed by all students. According to the test results, finding final exam dates on the academic calendar posed major difficulties, and accessing the course schedule web page was the task that required the most time. The test results indicated the need for a search engine on each page, a text version for all pages, rearrangement of the web link sequences with tabs and more information about visuals. Suggestions related to the visually impaired students’ needs were offered.     

Decoupled approach to integrated optimum design of structures and robust control systems

Integrated optimum design of structures and control systems is studied by using H ₂ and robust control formulations. It is derived that conventional simultaneous optimization approach by using these robust control laws can be approximated by a decoupled optimization approach in which the structures are optimized by shaping the structural singular values and then the controllers can be designed, namely, decoupled, sequential or successive design approach. It is shown that the proposed decoupled optimization approach can be used to design optimum robust structures and has certain advantages over the conventional simultaneous optimization procedures such as it avoids the drawbacks of pure robust control laws and faster, especially if the number of degrees of freedom (DOF) of the associated structure is large. The bounds for achievable robustness measures are also obtained. Following, simultaneous and decoupled optimization approaches are applied to active control of two structures. The optimization results are presented, and it is concluded that the proposed decoupled optimization approach yields the achieved global minimum much faster than the simultaneous optimization approach.     

A new supervised classification algorithm in artificial immune systems with its application to carotid artery Doppler signals to diagnose atherosclerosis

Because of its self-regulating nature, immune system has been an inspiration source for usually unsupervised learning methods in classification applications of Artificial Immune Systems (AIS). But classification with supervision can bring some advantages to AIS like other classification systems. Indeed, there have been some studies, which have obtained reasonable results and include supervision in this branch of AIS. In this study, we have proposed a new supervised AIS named as Supervised Affinity Maturation Algorithm (SAMA) and have presented its performance results through applying it to diagnose atherosclerosis using carotid artery Doppler signals as a real-world medical classification problem. We have employed the maximum envelope of the carotid artery Doppler sonograms derived from Autoregressive (AR) method as an input of proposed classification system and reached a maximum average classification accuracy of 98.93% with 10-fold cross-validation method used in training-test portioning. To evaluate this result, comparison was done with Artificial Neural Networks and Decision Trees. Our system was found to be comparable with those systems, which are used effectively in literature with respect to classification accuracy and classification time. Effects of system's parameters were also analyzed in performance evaluation applications. With this study and other possible contributions to AIS, classification algorithms with effective performances can be developed and potential of AIS in classification can be further revealed.