Ant colony stream clustering: A fast density clustering algorithm for dynamic data streams

A data stream is a continuously arriving sequence of data and clustering data streams requires additional considerations to traditional clustering. A stream is potentially unbounded, data points arrive on-line and each data point can be examined only once. This imposes limitations on available memory and processing time. Furthermore, streams can be noisy and the number of clusters in the data and their statistical properties can change over time. This paper presents an on-line, bio-inspired approach to clustering dynamic data streams. The proposed Ant-Colony Stream Clustering (ACSC) algorithm is a density based clustering algorithm, whereby clusters are identified as high-density areas of the feature space separated by low-density areas. ACSC identifies clusters as groups of micro-clusters. The tumbling window model is used to read a stream and rough clusters are incrementally formed during a single pass of a window. A stochastic method is employed to find these rough clusters, this is shown to significantly speed the algorithm with only a minor cost to performance, as compared to a deterministic approach. The rough clusters are then refined using a method inspired by the observed sorting behaviour of ants. Ants pick-up and drop items based on the similarity with the surrounding items. Artificial ants sort clusters by probabilistically picking and dropping micro-clusters based on local density and local similarity. Clusters are summarised using their constituent micro-clusters and these summary statistics are stored offline. Experimental results show that the clustering quality of ACSC is scalable, robust to noise and favourable to leading ant-clustering and stream-clustering algorithms. It also requires fewer parameters and less computational time

A clustering particle swarm optimizer for dynamic optimization

This article is posted here with permission of the IEEE - Copyright @ 2009 IEEEIn the real world, many applications are nonstationary optimization problems. This requires that optimization algorithms need to not only find the global optimal solution but also track the trajectory of the changing global best solution in a dynamic environment. To achieve this, this paper proposes a clustering particle swarm optimizer (CPSO) for dynamic optimization problems. The algorithm employs hierarchical clustering method to track multiple peaks based on a nearest neighbor search strategy. A fast local search method is also proposed to find the near optimal solutions in a local promising region in the search space. Six test problems generated from a generalized dynamic benchmark generator (GDBG) are used to test the performance of the proposed algorithm. The numerical experimental results show the efficiency of the proposed algorithm for locating and tracking multiple optima in dynamic environments.This work was supported by the Engineering and Physical Sciences Research Council (EPSRC) of the United Kingdom under Grant EP/E060722/1

Unsupervised Contact Learning for Humanoid Estimation and Control

This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for training is solely from proprioceptive sensors - endeffector contact wrench sensors and inertial measurement units (IMUs) - and the method is completely unsupervised. The resulting cluster means are used to efficiently compute the probability of contact in each of the six endeffector degrees of freedom (DoFs) independently. This clustering-based contact probability estimator is validated in a kinematics-based base state estimator in a simulation environment with realistic added sensor noise for locomotion over rough, low-friction terrain on which the robot is subject to foot slip and rotation. The proposed base state estimator which utilizes these six DoF contact probability estimates is shown to perform considerably better than that which determines kinematic contact constraints purely based on measured normal force.Comment: Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 201

Unsupervised Contact Learning for Humanoid Estimation and Control

This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for training is solely from proprioceptive sensors - endeffector contact wrench sensors and inertial measurement units (IMUs) - and the method is completely unsupervised. The resulting cluster means are used to efficiently compute the probability of contact in each of the six endeffector degrees of freedom (DoFs) independently. This clustering-based contact probability estimator is validated in a kinematics-based base state estimator in a simulation environment with realistic added sensor noise for locomotion over rough, low-friction terrain on which the robot is subject to foot slip and rotation. The proposed base state estimator which utilizes these six DoF contact probability estimates is shown to perform considerably better than that which determines kinematic contact constraints purely based on measured normal force.Comment: Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 201

Rough Sets Clustering and Markov model for Web Access Prediction

Discovering user access patterns from web access log is increasing the importance of information to build up adaptive web server according to the individual user’s behavior. The variety of user behaviors on accessing information also grows, which has a great impact on the network utilization. In this paper, we present a rough set clustering to cluster web transactions from web access logs and using Markov model for next access prediction. Using this approach, users can effectively mine web log records to discover and predict access patterns. We perform experiments using real web trace logs collected from www.dusit.ac.th servers. In order to improve its prediction ration, the model includes a rough sets scheme in which search similarity measure to compute the similarity between two sequences using upper approximation