14,502 research outputs found
Bat Algorithm: Literature Review and Applications
Bat algorithm (BA) is a bio-inspired algorithm developed by Yang in 2010 and
BA has been found to be very efficient. As a result, the literature has
expanded significantly in the last 3 years. This paper provides a timely review
of the bat algorithm and its new variants. A wide range of diverse applications
and case studies are also reviewed and summarized briefly here. Further
research topics are also discussed.Comment: 10 page
Co-Clustering Network-Constrained Trajectory Data
Recently, clustering moving object trajectories kept gaining interest from
both the data mining and machine learning communities. This problem, however,
was studied mainly and extensively in the setting where moving objects can move
freely on the euclidean space. In this paper, we study the problem of
clustering trajectories of vehicles whose movement is restricted by the
underlying road network. We model relations between these trajectories and road
segments as a bipartite graph and we try to cluster its vertices. We
demonstrate our approaches on synthetic data and show how it could be useful in
inferring knowledge about the flow dynamics and the behavior of the drivers
using the road network
PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles
There exists an increasing demand for a flexible and computationally
efficient controller for micro aerial vehicles (MAVs) due to a high degree of
environmental perturbations. In this work, an evolving neuro-fuzzy controller,
namely Parsimonious Controller (PAC) is proposed. It features fewer network
parameters than conventional approaches due to the absence of rule premise
parameters. PAC is built upon a recently developed evolving neuro-fuzzy system
known as parsimonious learning machine (PALM) and adopts new rule growing and
pruning modules derived from the approximation of bias and variance. These rule
adaptation methods have no reliance on user-defined thresholds, thereby
increasing the PAC's autonomy for real-time deployment. PAC adapts the
consequent parameters with the sliding mode control (SMC) theory in the
single-pass fashion. The boundedness and convergence of the closed-loop control
system's tracking error and the controller's consequent parameters are
confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's
efficacy is evaluated by observing various trajectory tracking performance from
a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing
micro aerial vehicle called hexacopter. Furthermore, it is compared to three
distinctive controllers. Our PAC outperforms the linear PID controller and
feed-forward neural network (FFNN) based nonlinear adaptive controller.
Compared to its predecessor, G-controller, the tracking accuracy is comparable,
but the PAC incurs significantly fewer parameters to attain similar or better
performance than the G-controller.Comment: This paper has been accepted for publication in Information Science
Journal 201
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