From a Non-Local Ambrosio-Tortorelli Phase Field to a Randomized Part Hierarchy Tree

In its most widespread imaging and vision applications, Ambrosio and Tortorelli (AT) phase field is a technical device for applying gradient descent to Mumford and Shah simultaneous segmentation and restoration functional or its extensions. As such, it forms a diffuse alternative to sharp interfaces or level sets and parametric techniques. The functionality of the AT field, however, is not limited to segmentation and restoration applications. We demonstrate the possibility of coding parts—features that are higher level than edges and boundaries—after incorporating higher level influences via distances and averages. The iteratively extracted parts using the level curves with double point singularities are organized as a proper binary tree. Inconsistencies due to non-generic configurations for level curves as well as due to visual changes such as occlusion are successfully handled once the tree is endowed with a probabilistic structure. As a proof of concept, we present (1) the most probable configurations from our randomized trees; and (2) correspondence matching results between illustrative shape pairs. The work is a significant step towards establishing exponentially decaying diffuse distance fields as bridges between low level visual processing and shape computations.     

Prioritized Mobile Robot Exploration Based on Percolation Enhanced Entropy Based Fast SLAM

The major aim in search and rescue using mobile robots is to detect and reach trapped survivors and to support rescue operations through disaster environments. Our motivation is based on the fact that a search and rescue (SAR) robot can navigate within and penetrate a disaster area only if the area in question possesses connected voids. Traversability or penetrability of a disaster area is a primary factor that guides the navigation of a search and rescue (SAR) robot, since it is highly desirable that the robot, without hitting a dead end or getting stuck, keeps its mobility for its primary task of reconnaissance and mapping when searching the highly unstructured environment. We propose a novel percolation guidance that collaborates with entropy based SLAM under a switching control setting the priority to either position or map accuracy. This newly developed methodology has proven to combine the superiority of both percolator guidance and entropy based prioritization so that the active SLAM becomes speedy, with high coverage rate of the area as well as increased accuracy in localization. Our percolator guidance stems from a frontier based conditioning of a-posteriori occurrences of upcoming connected voids that uses the fact that every obstacle partially seen at the frontier of the explored domain has a spatial continuity into the unexplored area. The developed modular architecture is introduced in details and demonstrative examples are provided and discussed.     

Routing table updating by using intelligent agents

In a network, one of the important problems is making an efficient routing decision. Many studies have been carried out on making a decision and several routing algorithms have been developed. In a network environment, every node has a routing table and these routing tables are used for making routing decisions. Nowadays, intelligent agents are used to make routing decisions. Intelligent agents have been inspired by social insects such as ants. One of the intelligent agent types is self a cloning ant. In this study, a self cloning ant colony approach is used. Self cloning ants are a new synthetic ant type. This ant assesses the situation and multiplies through cloning or destroying itself. It is done by making a routing decision and finding the optimal path. This study explains routing table updating by using the self cloning ant colony approach. In a real net, this approach has been used and routing tables have been created and updated for every node.     

Wavelet domain association rules for efficient texture classification

The wavelet domain association rules method is proposed for efficient texture characterization. The concept of association rules to capture the frequently occurring local intensity variation in textures. The frequency of occurrence of these local patterns within a region is used as texture features. Since texture is basically a multi-scale phenomenon, multi-resolution approaches such as wavelets, are expected to perform efficiently for texture analysis. Thus, this study proposes a new algorithm which uses the wavelet domain association rules for texture classification. Essentially, this work is an extension version of an early work of the Rushing et al. [10], [11], where the generation of intensity domain association rules generation was proposed for efficient texture characterization. The wavelet domain and the intensity domain (gray scale) association rules were generated for performance comparison purposes. As a result, Rushing et al. [10], [11] demonstrated that intensity domain association rules performs much more accurate results than those of the methods which were compared in the Rushing et al. work. Moreover, the performed experimental studies showed the effectiveness of the wavelet domain association rules than the intensity domain association rules for texture classification problem. The overall success rate is about 97%.     

How to trust a few among many

The presence of numerous and disparate information sources available to support decision-making calls for efficient methods of harnessing their potential. Information sources may be unreliable, and misleading reports can affect decisions. Existing trust and reputation mechanisms typically rely on reports from as many sources as possible to mitigate the influence of misleading reports on decisions. In the real world, however, it is often the case that querying information sources can be costly in terms of energy, bandwidth, delay overheads, and other constraints. We present a model of source selection and fusion in resource-constrained environments, where there is uncertainty regarding the trustworthiness of sources. We exploit diversity among sources to stratify them into homogeneous subgroups to both minimise redundant sampling and mitigate the effect of certain biases. Through controlled experiments, we demonstrate that a diversity-based approach is robust to biases introduced due to dependencies among source reports, performs significantly better than existing approaches when sampling budget is limited and equally as good with an unlimited budget.     

A simulational comparison of intelligent control algorithms on a direct drive manipulator

This paper investigates the control of nonlinear systems by neural networks and fuzzy logic. As the control methods, Gaussian neuro-fuzzy variable structure (GNFVS), feedback error learning architecture (FELA) and direct inverse modeling architecture (DIMA) are studied, and their performances are comparatively evaluated on a two degrees of freedom direct drive robotic manipulator with respect to trajectory tracking performance, computational complexity, design complexity, RMS errors, necessary training time in learning phase and payload variations.     

An alternative approach to fuzzy control charts: Direct fuzzy approach

The major contribution of fuzzy set theory lies in its capability of representing vague data. Fuzzy logic offers a systematic base to deal with situations, which are ambiguous or not well defined. In the literature, there exist few papers on fuzzy control charts, which use defuzziffication methods in the early steps of their algorithms. The use of defuzziffication methods in the early steps of the algorithm makes it too similar to the classical analysis. Linguistic data in those works are transformed into numeric values before control limits are calculated. Thus both control limits as well as sample values become numeric. In this paper, some contributions to fuzzy control charts based on fuzzy transformation methods are made by the use of α-cut to provide the ability of determining the tightness of the inspection: the higher the value of α the tighter inspection. A new alternative approach “Direct Fuzzy Approach (DFA)” is also developed in this paper. In contrast to the existing fuzzy control charts, the proposed approach is quite different in the sense it does not require the use of the defuzziffication. This prevents the loss of information included by the samples. It directly compares the linguistic data in fuzzy space without making any transformation. We use some numeric examples to illustrate the performance of the method and interpret its results.     

A greedy gradient-simulated annealing selection hyper-heuristic

Educational timetabling problem is a challenging real world problem which has been of interest to many researchers and practitioners. There are many variants of this problem which mainly require scheduling of events and resources under various constraints. In this study, a curriculum based course timetabling problem at Yeditepe University is described and an iterative selection hyper-heuristic is presented as a solution method. A selection hyper-heuristic as a high level methodology operates on the space formed by a fixed set of low level heuristics which operate directly on the space of solutions. The move acceptance and heuristic selection methods are the main components of a selection hyper-heuristic. The proposed hyper-heuristic in this study combines a simulated annealing move acceptance method with a learning heuristic selection method and manages a set of low level constraint oriented heuristics. A key goal in hyper-heuristic research is to build low cost methods which are general and can be reused on unseen problem instances as well as other problem domains desirably with no additional human expert intervention. Hence, the proposed method is additionally applied to a high school timetabling problem, as well as six other problem domains from a hyper-heuristic benchmark to test its level of generality. The empirical results show that our easy-to-implement hyper-heuristic is effective in solving the Yeditepe course timetabling problem. Moreover, being sufficiently general, it delivers a reasonable performance across different problem domains.     

A new feature encoding scheme for HIV-1 protease cleavage site prediction

HIV-1 protease has been the subject of intense research for deciphering HIV-1 virus replication process for decades. Knowledge of the substrate specificity of HIV-1 protease will enlighten the way of development of HIV-1 protease inhibitors. In the prediction of HIV-1 protease cleavage site techniques, various feature encoding techniques and machine learning algorithms have been used frequently. In this paper, a new feature amino acid encoding scheme is proposed to predict HIV-1 protease cleavage sites. In the proposed method, we combined orthonormal encoding and Taylor’s venn-diagram. We used linear support vector machines as the classifier in the tests. We also analyzed our technique by comparing some feature encoding techniques. The tests are carried out on PR-1625 and PR-3261 datasets. Experimental results show that our amino acid encoding technique leads to better classification performance than other encoding techniques on a standalone classifier.     

Inverse resistivity problem: Geoelectric uncertainty principle and numerical reconstruction method

Mathematical model of vertical electrical sounding by using resistivity method is studied. The model leads to an inverse problem of determination of the unknown leading coefficient (conductivity) of the elliptic equation in R²$R^2$ in a slab. The direct problem is obtained in the form of mixed BVP in axisymmetric cylindrical coordinates. The additional (available measured) data is given on the upper boundary of the slab, in the form of tangential derivative. Due to ill-conditionedness of the considered inverse problem the logarithmic transformation is applied to the unknown coefficient and the inverse problem is studied as a minimization problem for the cost functional, with respect to the reflection coefficient. The Conjugate Gradient method (CGM) is applied for the numerical solution of this problem. Computational experiments were performed with noise free and random noisy data.