DeepEvolution: A Search-Based Testing Approach for Deep Neural Networks

The increasing inclusion of Deep Learning (DL) models in safety-critical systems such as autonomous vehicles have led to the development of multiple model-based DL testing techniques. One common denominator of these testing techniques is the automated generation of test cases, e.g., new inputs transformed from the original training data with the aim to optimize some test adequacy criteria. So far, the effectiveness of these approaches has been hindered by their reliance on random fuzzing or transformations that do not always produce test cases with a good diversity. To overcome these limitations, we propose, DeepEvolution, a novel search-based approach for testing DL models that relies on metaheuristics to ensure a maximum diversity in generated test cases. We assess the effectiveness of DeepEvolution in testing computer-vision DL models and found that it significantly increases the neuronal coverage of generated test cases. Moreover, using DeepEvolution, we could successfully find several corner-case behaviors. Finally, DeepEvolution outperformed Tensorfuzz (a coverage-guided fuzzing tool developed at Google Brain) in detecting latent defects introduced during the quantization of the models. These results suggest that search-based approaches can help build effective testing tools for DL systems

Novel metaheuristic hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation

© 2014 Elsevier B.V. All rights reserved. This paper presents hybrid spiral-dynamic bacteria-chemotaxis algorithms for global optimisation and their application to control of a flexible manipulator system. Spiral dynamic algorithm (SDA) has faster convergence speed and good exploitation strategy. However, the incorporation of constant radius and angular displacement in its spiral model causes the exploration strategy to be less effective hence resulting in low accurate solution. Bacteria chemotaxis on the other hand, is the most prominent strategy in bacterial foraging algorithm. However, the incorporation of a constant step-size for the bacteria movement affects the algorithm performance. Defining a large step-size results in faster convergence speed but produces low accuracy while de.ning a small step-size gives high accuracy but produces slower convergence speed. The hybrid algorithms proposed in this paper synergise SDA and bacteria chemotaxis and thus introduce more effective exploration strategy leading to higher accuracy, faster convergence speed and low computation time. The proposed algorithms are tested with several benchmark functions and statistically analysed via nonparametric Friedman and Wilcoxon signed rank tests as well as parametric t-test in comparison to their predecessor algorithms. Moreover, they are used to optimise hybrid Proportional-Derivative-like fuzzy-logic controller for position tracking of a flexible manipulator system. The results show that the proposed algorithms significantly improve both convergence speed as well as fitness accuracy and result in better system response in controlling the flexible manipulator

An evolutionary algorithm for online, resource constrained, multi-vehicle sensing mission planning

Mobile robotic platforms are an indispensable tool for various scientific and industrial applications. Robots are used to undertake missions whose execution is constrained by various factors, such as the allocated time or their remaining energy. Existing solutions for resource constrained multi-robot sensing mission planning provide optimal plans at a prohibitive computational complexity for online application [1],[2],[3]. A heuristic approach exists for an online, resource constrained sensing mission planning for a single vehicle [4]. This work proposes a Genetic Algorithm (GA) based heuristic for the Correlated Team Orienteering Problem (CTOP) that is used for planning sensing and monitoring missions for robotic teams that operate under resource constraints. The heuristic is compared against optimal Mixed Integer Quadratic Programming (MIQP) solutions. Results show that the quality of the heuristic solution is at the worst case equal to the 5% optimal solution. The heuristic solution proves to be at least 300 times more time efficient in the worst tested case. The GA heuristic execution required in the worst case less than a second making it suitable for online execution.Comment: 8 pages, 5 figures, accepted for publication in Robotics and Automation Letters (RA-L

Search-Based Fairness Testing: An Overview

Artificial Intelligence (AI) has demonstrated remarkable capabilities in domains such as recruitment, finance, healthcare, and the judiciary. However, biases in AI systems raise ethical and societal concerns, emphasizing the need for effective fairness testing methods. This paper reviews current research on fairness testing, particularly its application through search-based testing. Our analysis highlights progress and identifies areas of improvement in addressing AI systems biases. Future research should focus on leveraging established search-based testing methodologies for fairness testing.Comment: IEEE International Conference on Computing (ICOCO 2023), Langkawi Island, Malaysia, pp. 89-94, October 202

Optimising Multilayer Perceptron weights and biases through a Cellular Genetic Algorithm for medical data classification

In recent years, technology in medicine has shown a significant advance due to artificial intelligence becoming a framework to make accurate medical diagnoses. Models like Multilayer Perceptrons (MLPs) can detect implicit patterns in data, allowing identifying patients conditions that cannot be seen easily. MLPs consist of biased neurons arranged in layers, connected by weighted connections. Their effectiveness depends on finding the optimal weights and biases that reduce the classification error, which is usually done by using the Back Propagation algorithm (BP). But BP has several disadvantages that could provoke the MLP not to learn. Metaheuristics are alternatives to BP that reach high-quality solutions without using many computational resources. In this work, the Cellular Genetic Algorithm (CGA) with a specially designed crossover operator called Damped Crossover (DX), is proposed to optimise weights and biases of the MLP to classify medical data. When compared against state-of-the-art algorithms, the CGA configured with DX obtained the minimal Mean Square Error value in three out of the five considered medical datasets and was the quickest algorithm with four datasets, showing a better balance between time consumed and optimisation performance. Additionally, it is competitive in enhancing classification quality, reaching the best accuracy with two datasets and the second-best accuracy with two of the remaining.Fil: Rojas, Matias Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mendoza; Argentina. Universidad Nacional de Cuyo. Instituto para las Tecnologías de la Información y las Comunicaciones; ArgentinaFil: Olivera, Ana Carolina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mendoza; Argentina. Universidad Nacional de Cuyo. Instituto para las Tecnologías de la Información y las Comunicaciones; Argentina. Universidad Nacional de Cuyo. Facultad de Ingeniería; ArgentinaFil: Vidal, Pablo Javier. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Mendoza; Argentina. Universidad Nacional de Cuyo. Instituto para las Tecnologías de la Información y las Comunicaciones; Argentina. Universidad Nacional de Cuyo. Facultad de Ingeniería; Argentin

Evolutionary algorithms for robot path planning, task allocation and collision avoidance in an automated warehouse

Thesis (PhD)--Stellenbosch University, 2022.ENGLISH ABSTRACT: Research with regard to path planning, task allocation and collision avoidance is important for improving the field of warehouse automation. The dissertation addresses the topic of routing warehouse picking and binning robots. The purpose of this dissertation is to develop a single objective and multi-objective algorithm framework that can sequence products to be picked or binned, allocate the products to robots and optimise the routing through the warehouse. The sequence of the picking and binning tasks ultimately determines the total time for picking and binning all of the parts. The objectives of the algorithm framework are to minimise the total time for travelling as well as the total time idling, given the number of robots available to perform the picking and binning functions. The algorithm framework incorporates collision avoidance since the aisle width does not allow two robots to pass each other. The routing problem sets the foundation for solving the sequencing and allocation problem. The best heuristic from the routing problem is used as the strategy for routing the robots in the sequencing and allocation problem. The routing heuristics used to test the framework in this dissertation include the return heuristic, the s-shape heuristic, the midpoint heuristic and the largest gap heuristic. The metaheuristic solution strategies for single objective part sequencing and allocating problem include the covariance matrix adaptation evolution strategy (CMA-ES) algorithm, the genetic algorithm (GA), the guaranteed convergence particle swarm optimisation (GCPSO) algorithm, and the self-adaptive differential evolution algorithm with neighbourhood search (SaNSDE). The evolutionary multi-objective algorithms considered in this dissertation are the non-dominated sorting genetic algorithm III (NSGA-III), the multi-objective evolutionary algorithm based on decomposition (MOEAD), the multiple objective particle swarm optimisation (MOPSO), and the multi-objective covariance matrix adaptation evolution strategy (MO-CMA-ES). Solving the robot routing problem showed that the return routing heuristic outperformed the s-shape, largest gap and midpoint heuristics with a significant margin. The return heuristic was thus used for solving the routing of robots in the part sequencing and allocation problem. The framework was able to create feasible real-world solutions for the part sequencing and allocation problem. The results from the single objective problem showed that the CMA-ES algorithm outperformed the other metaheuristics on the part sequencing and allocation problem. The second best performing metaheuristic was the SaNSDE. The GA was the third best metaheuristic and the worst performing metaheuristic was the GCPSO. The multi-objective framework was able to produce feasible trade-off solutions and MOPSO was shown to be the best EMO algorithm to use for accuracy. If a large spread and number of Pareto solutions are the most important concern, MOEAD should be used. The research contributions include the incorporation of collision avoidance in the robot routing problem when using single and multi-objective algorithms as solution strategies. This dissertation contributes to the research relating to the performance of metaheuristics and evolutionary multi-objective algorithms on routing, sequencing, and allocation problems. To the best of the author’s knowledge, this dissertation is the first where these four metaheuristics and evolutionary multi-objective algorithms have been tested for solving the robot picking and binning problem, given that all collisions must be avoided. It is also the first time that this specific variation of the part sequencing and allocation problem has been solved using metaheuristics and evolutionary multi-objective algorithms, taking into account that all collisions must be avoided.AFRIKAANSE OPSOMMING: Navorsing in verband met roete beplanning, part allokasie en botsing vermyding is belangrik vir die bevordering van die pakhuis automatisering veld. Die verhandeling handel oor die onderwerp van parte wat gestoor en gehaal moet word en die verkillende parte moet ook gealokeer word aan ’n spesifieke robot. Die doel van hierdie verhandeling is om ’n enkele doelwit en ’n multidoelwit algoritme raamwerk te ontwikkel wat parte in ’n volgorde rangskik en ook die parte aan ’n robot alokeer. Die roete wat die robot moet volg deur die pakhuis moet ook geoptimeer word om die minste tyd te verg. Die volgorde van die parte bepaal uiteindelik die totale tyd wat dit neem vir die robot om al die parte te stoor en te gaan haal. Die doelwitte van die algoritme raamwerk is om die totale reistyd en die totale ledige tyd te minimeer, gegewe die aantal beskikbare robotte in die sisteem om die stoor en gaan haal funksies uit te voer. Die algoritme raamwerk bevat botsingsvermyding, aangesien die gangbreedte van die pakhuis nie toelaat dat twee robotte mekaar kan verbygaan nie. Die roete probleem lˆe die grondslag vir die oplossing van die volgorde en allokerings probleem. Die beste heuristiek vir die roete probleem word verder gebruik in die volgorde en allokerings probleem. Die verskillende roete heuristieke wat in hierdie verhandeling oorweeg was, sluit in die terugkeer heuristiek, die s-vorm heuristiek, die middelpunt heuristiek en die grootste gaping heuristiek. Die metaheuristieke vir die volgorde en allokerings probleem sluit die volgende algoritmes in: die kovariansie matriks aanpassing evolusie algoritme (CMA-ES), die genetiese algoritme (GA), die gewaarborgde konvergerende deeltjie swermoptimerings (GCPSO) algoritme, en laastens die selfaanpassende differensi¨ele evolusie algoritme met die teenwoordigheid van buurtsoek (SaNSDE). Die evolusionêre multidoelwit algoritmes wat oorweeg was vir die volgorde en allokerings probleem sluit die volgende algoritmes in: die multidoelwit kovariansie matriks aanpassing evolusie algoritme (MO-CMA-ES), die nie-dominerende sortering genetiese algoritme III (NSGA-III), die multidoelwit evolusionˆere algoritme gebaseer op ontbinding (MOEAD) en laastens die multidoelwit deeltjie swermoptimering algoritme (MOPSO) Oplossings van die robot roete probleem het gewys dat die terugkeer heuristiek die s-vorm, grootste gaping en middelpunt heuristiek met ’n beduidende marge oortref het. Die terugkeer heuristiek is dus gebruik vir die oplossing van die roete beplanning van robotte in die volgorde en allokasie probleem. Die raamwerk was doeltreffend en die resultate het getoon, vir die enkel doelwit probleem, dat die CMA-ES algoritme beter gevaar het as die ander metaheuristieke vir die volgorde en allokasie probleem. Die SaNSDE was die naas beste presterende metaheuristiek. Die GA was die derde beste metaheuristiek, en die metaheuristiek wat die slegste gevaar het, was die GCPSO. Vir die multidoelwit probleem het die MOPSO die beste gevaar, as akkuraatheid die belangrikste doelwit is. As ’n grootter verskeidenheid die belangrikste is, is die MOEAD meer geskik om ’n oplossing te vind. Die navorsingsbydraes sluit in dat vermyding van botsings in ag geneem word in die robot roete probleem. Hierdie verhandeling dra by tot die navorsing oor die oplossing van roete beplanning, volgorde en allokasie probleme met metaheuristieke. Na die beste van die outeur se kennis is hierdie die eerste keer dat al vier metaheuristieke getoets was om die robot stoor-en-gaan haal probleem op te los, onder die kondisie dat alle botsings vermy moet word. Dit is ook die eerste keer dat hierdie spesifieke variant, enkel-en-multidoelwit probleem van die volgorde en allokasie van parte met behulp van metaheuristieke en multidoelwit evolusionˆere algoritmes opgelos was, met die inagneming dat alle botsings vermy moet word.Doctora

A New K means Grey Wolf Algorithm for Engineering Problems

Purpose: The development of metaheuristic algorithms has increased by researchers to use them extensively in the field of business, science, and engineering. One of the common metaheuristic optimization algorithms is called Grey Wolf Optimization (GWO). The algorithm works based on imitation of the wolves' searching and the process of attacking grey wolves. The main purpose of this paper to overcome the GWO problem which is trapping into local optima. Design or Methodology or Approach: In this paper, the K-means clustering algorithm is used to enhance the performance of the original Grey Wolf Optimization by dividing the population into different parts. The proposed algorithm is called K-means clustering Grey Wolf Optimization (KMGWO). Findings: Results illustrate the efficiency of KMGWO is superior to GWO. To evaluate the performance of the KMGWO, KMGWO applied to solve 10 CEC2019 benchmark test functions. Results prove that KMGWO is better compared to GWO. KMGWO is also compared to Cat Swarm Optimization (CSO), Whale Optimization Algorithm-Bat Algorithm (WOA-BAT), and WOA, so, KMGWO achieves the first rank in terms of performance. Statistical results proved that KMGWO achieved a higher significant value compared to the compared algorithms. Also, the KMGWO is used to solve a pressure vessel design problem and it has outperformed results. Originality/value: Results prove that KMGWO is superior to GWO. KMGWO is also compared to cat swarm optimization (CSO), whale optimization algorithm-bat algorithm (WOA-BAT), WOA, and GWO so KMGWO achieved the first rank in terms of performance. Also, the KMGWO is used to solve a classical engineering problem and it is superiorComment: 15 pages. World Journal of Engineering, 202

Evolutionary algorithm-based analysis of gravitational microlensing lightcurves

A new algorithm developed to perform autonomous fitting of gravitational microlensing lightcurves is presented. The new algorithm is conceptually simple, versatile and robust, and parallelises trivially; it combines features of extant evolutionary algorithms with some novel ones, and fares well on the problem of fitting binary-lens microlensing lightcurves, as well as on a number of other difficult optimisation problems. Success rates in excess of 90% are achieved when fitting synthetic though noisy binary-lens lightcurves, allowing no more than 20 minutes per fit on a desktop computer; this success rate is shown to compare very favourably with that of both a conventional (iterated simplex) algorithm, and a more state-of-the-art, artificial neural network-based approach. As such, this work provides proof of concept for the use of an evolutionary algorithm as the basis for real-time, autonomous modelling of microlensing events. Further work is required to investigate how the algorithm will fare when faced with more complex and realistic microlensing modelling problems; it is, however, argued here that the use of parallel computing platforms, such as inexpensive graphics processing units, should allow fitting times to be constrained to under an hour, even when dealing with complicated microlensing models. In any event, it is hoped that this work might stimulate some interest in evolutionary algorithms, and that the algorithm described here might prove useful for solving microlensing and/or more general model-fitting problems.Comment: 14 pages, 3 figures; accepted for publication in MNRA