1,791 research outputs found

    Continuous non-revisiting genetic algorithm with overlapped search sub-region

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    In continuous non-revisiting genetic algorithm (cNrGA), search space is partitioned into sub-regions according to the distribution of evaluated solutions. The partitioned subregion serves as mutation range such that the corresponding mutation is adaptive and parameter-less. As pointed out by Chow and Yuen, the boundary condition of the mutation in cNrGA is too restricted that the exploitative power of cNrGA is reduced. In this paper, we tackle this structural problem of cNrGA by a new formulation of mutation range. When sub-region is formulated as which certain overlap exists between adjacent sub-regions, this creates a soft boundary and it allows individual move from a sub-region to another with better fitness. This modified cNrGA is named cNrGA with overlapped search sub-region (cNrGA/OL/OGF). By comparing with another work on this problem, Continuous non-revisiting genetic algorithm with randomly re-partitioned BSP tree (cNrGA/RP/OGF), it has an advantage on processing speed. The proposed algorithm is examined on 34 benchmark functions at dimensions ranging from 2 to 40. The results show that the proposed algorithm is superior to the original cNrGA, cNrGA/RP/OGF and covariance matrix adaptation evolutionary strategy (CMA-ES). © 2012 IEEE.published_or_final_versio

    On-line Search History-assisted Restart Strategy for Covariance Matrix Adaptation Evolution Strategy

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    Restart strategy helps the covariance matrix adaptation evolution strategy (CMA-ES) to increase the probability of finding the global optimum in optimization, while a single run CMA-ES is easy to be trapped in local optima. In this paper, the continuous non-revisiting genetic algorithm (cNrGA) is used to help CMA-ES to achieve multiple restarts from different sub-regions of the search space. The CMA-ES with on-line search history-assisted restart strategy (HR-CMA-ES) is proposed. The entire on-line search history of cNrGA is stored in a binary space partitioning (BSP) tree, which is effective for performing local search. The frequently sampled sub-region is reflected by a deep position in the BSP tree. When leaf nodes are located deeper than a threshold, the corresponding sub-region is considered a region of interest (ROI). In HR-CMA-ES, cNrGA is responsible for global exploration and suggesting ROI for CMA-ES to perform an exploitation within or around the ROI. CMA-ES restarts independently in each suggested ROI. The non-revisiting mechanism of cNrGA avoids to suggest the same ROI for a second time. Experimental results on the CEC 2013 and 2017 benchmark suites show that HR-CMA-ES performs better than both CMA-ES and cNrGA. A positive synergy is observed by the memetic cooperation of the two algorithms.Comment: 8 pages, 9 figure

    Continuous non-revisiting genetic algorithm

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    The non-revisiting genetic algorithm (NrGA) is extended to handle continuous search space. The extended NrGA model, Continuous NrGA (cNrGA), employs the same tree-structure archive of NrGA to memorize the evaluated solutions, in which the search space is divided into non-overlapped partitions according to the distribution of the solutions. cNrGA is a bi-modulus evolutionary algorithm consisting of the genetic algorithm module (GAM) and the adaptive mutation module (AMM). When GAM generates an offspring, the offspring is sent to AMM and is mutated according to the density of the solutions stored in the memory archive. For a point in the search space with high solution-density, it infers a high probability that the point is close to the optimum and hence a near search is suggested. Alternatively, a far search is recommended for a point with low solution-density. Benefitting from the space partitioning scheme, a fast solution-density approximation is obtained. Also, the adaptive mutation scheme naturally avoid the generation of out-of-bound solutions. The performance of cNrGA is tested on 14 benchmark functions on dimensions ranging from 2 to 40. It is compared with real coded GA, differential evolution, covariance matrix adaptation evolution strategy and two improved particle swarm optimization. The simulation results show that cNrGA outperforms the other algorithms for multi-modal function optimization.published_or_final_versio

    An optimization method based on genetic algorithm for heart rate variability analysis in the prediction of the onset of cardiac arrhythmia

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    Heart rate variability (HRV) is one of the common biological markers for developing a diagnostic system of cardiovascular disease. HRV analysis is used to extract statistical, geometrical, spectral and non-linear features in such diagnostic system. The diagnostic accuracy can be maximized by applying a feature selection step that selects an optimal feature subset from the extracted features. However, there are shortcomings in using only the feature selection for optimizing a diagnostic system that is based on HRV analysis. One of the main limitations is that the parameters of HRV feature extraction algorithms are not optimized for maximal performance. In addition, the feature selection process does not consider the feature cost and misclassification error of the selected optimal feature subset. Therefore, this thesis proposes a multi-objective optimization method that is based on the non-dominated sorting genetic algorithm to overcome these shortcomings in a cardiac arrhythmia prediction system. It optimizes the HRV feature extraction parameters, selects the best feature subset, and tunes the classifier parameters simultaneously for maximum prediction performance. The proposed optimization algorithm is applied in two cardiac arrhythmia cases, namely the prediction of the onsets of paroxysmal atrial fibrillation (PAF) and ventricular tachyarrhythmia (VTA). In the proposed approach, trade-off between multiple optimization objectives that contradict to each other are also analyzed. The optimization objectives include the feature count, measurement cost, prediction sensitivity, specificity and accuracy rate. The following results prove the effectiveness of the proposed optimization algorithm in the two arrhythmia cases. Firstly, the PAF onset prediction achieves an accuracy rate of 89.6%, which significantly outperforms most of the previous works. This accuracy rate is achieved even with the HRV signal length being reduced from the typical 30 minutes to just 5 minutes (a reduction of 83%). In the case of VTA onset prediction, the accuracy rate of 78.15% is achieved with 5-minute signal length. This result outperforms previous works. Another significant result is the sensitivity rate improvement with the tradeoff of lower specificity and accuracy rate for both PAF and VTA onset predictions. For instance, the sensitivity rate of the VTA onset prediction system improved from 81.48% to 92.59% while the accuracy rate reduced from 78.15% to 72.59%

    Optimisation of Mobile Communication Networks - OMCO NET

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    The mini conference “Optimisation of Mobile Communication Networks” focuses on advanced methods for search and optimisation applied to wireless communication networks. It is sponsored by Research & Enterprise Fund Southampton Solent University. The conference strives to widen knowledge on advanced search methods capable of optimisation of wireless communications networks. The aim is to provide a forum for exchange of recent knowledge, new ideas and trends in this progressive and challenging area. The conference will popularise new successful approaches on resolving hard tasks such as minimisation of transmit power, cooperative and optimal routing

    Network Algorithms for Complex Systems with Applications to Non-linear Oscillators and Genome Assembly

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    Network and complex system models are useful for studying a wide range of phenomena, from disease spread to traffic flow. Because of the broad applicability of the framework it is important to develop effective simulations and algorithms for complex networks. This dissertation presents contributions to two applied problems in this area First, we study an electro-optical, nonlinear, and time-delayed feedback loop commonly used in applications that require a broad range of chaotic behavior. For this system we detail a discrete-time simulation model, exploring the model's synchronization behavior under specific coupling conditions. Expanding upon already published results that investigated changes in feedback strength, we explore how both time-delay and nonlinear sensitivity impact synchronization. We also relax the requirement of strictly identical systems components to study how synchronization regions are affected when coupled systems have non-identical components (parameters). Last, we allow wider variance in coupling strengths, including unique strengths to each system, to identify a rich synchronization region not previously seen. In our second application, we take a complex networks approach to improving genome assembly algorithms. One key part of sequencing a genome is solving the orientation problem. The orientation problem is finding the relative orientations for each data fragment generated during sequencing. By viewing the genomic data as a network we can apply standard analysis techniques for community finding and utilize the significantly modular structure of the data. This structure informs development and application of two new heuristics based on (A) genetic algorithms and (B) hierarchical clustering for solving the orientation problem. Genetic algorithms allow us to preserve some internal structure while quickly exploring a large solution space. We present studies using a multi-scale genetic algorithm to solve the orientation problem. We show that this approach can be used in conjunction with currently used methods to identify a better solution to the orientation problem. Our hierarchical algorithm further utilizes the modular structure of the data. By progressively solving and merging sub-problems together we pick optimal `local' solutions while allowing more global corrections to occur later. Our results show significant improvements over current techniques for both generated data and real assembly data

    Collective cluster-based map merging in multi robot SLAM

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    New challenges arise with multi-robotics, while information integration is among the most important problems need to be solved in this field. For mobile robots, information integration usually refers to map merging . Map merging is the process of combining partial maps constructed by individual robots in order to build a global map of the environment. Different approaches have been made toward solving map merging problem. Our method is based on transformational approach, in which the idea is to find regions of overlap between local maps and fuse them together using a set of transformations and similarity heuristic algorithms. The contribution of this work is an improvement made in the search space of candidate transformations. This was achieved by enforcing pair-wise partial localization technique over the local maps prior to any attempt to transform them. The experimental results show a noticeable improvement (15-20%) made in the overall mapping time using our technique

    Population genetic structure in <i>Sabatieria</i> (Nematoda) reveals intermediary gene flow and admixture between distant cold seeps from the Mediterranean Sea

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    BackgroundThere is a general lack of information on the dispersal and genetic structuring for populations of small-sized deep-water taxa, including free-living nematodes which inhabit and dominate the seafloor sediments. This is also true for unique and scattered deep-sea habitats such as cold seeps. Given the limited dispersal capacity of marine nematodes, genetic differentiation between such geographically isolated habitat patches is expected to be high. Against this background, we examined genetic variation in both mitochondrial (COI) and nuclear (18S and 28S ribosomal) DNA markers of 333 individuals of the genus Sabatieria, abundantly present in reduced cold-seep sediments. Samples originated from four Eastern Mediterranean cold seeps, separated by hundreds of kilometers, and one seep in the Southeast Atlantic.ResultsIndividuals from the Mediterranean and Atlantic were divided into two separate but closely-related species clades. Within the Eastern Mediterranean, all specimens belonged to a single species, but with a strong population genetic structure (ΦST = 0.149). The haplotype network of COI contained 19 haplotypes with the most abundant haplotype (52% of the specimens) shared between all four seeps. The number of private haplotypes was high (15), but the number of mutations between haplotypes was low (1–8). These results indicate intermediary gene flow among the Mediterranean Sabatieria populations with no evidence of long-term barriers to gene flow.ConclusionsThe presence of shared haplotypes and multiple admixture events indicate that Sabatieria populations from disjunct cold seeps are not completely isolated, with gene flow most likely facilitated through water current transportation of individuals and/or eggs. Genetic structure and molecular diversity indices are comparable to those of epiphytic shallow-water marine nematodes, while no evidence of sympatric cryptic species was found for the cold-seep Sabatieria

    Evolutionary Optimization Techniques for 3D Simultaneous Localization and Mapping

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    Mención Internacional en el título de doctorMobile robots are growing up in applications to move through indoors and outdoors environments, passing from teleoperated applications to autonomous applications like exploring or navigating. For a robot to move through a particular location, it needs to gather information about the scenario using sensors. These sensors allow the robot to observe, depending on the sensor data type. Cameras mostly give information in two dimensions, with colors and pixels representing an image. Range sensors give distances from the robot to obstacles. Depth Cameras mix both technologies to expand their information to three-dimensional information. Light Detection and Ranging (LiDAR) provides information about the distance to the sensor but expands its range to planes and three dimensions alongside precision. So, mobile robots use those sensors to scan the scenario while moving. If the robot already has a map, the sensors measure, and the robot finds features that correspond to features on the map to localize itself. Men have used Maps as a specialized form of representing the environment for more than 5000 years, becoming a piece of important information in today’s daily basics. Maps are used to navigate from one place to another, localize something inside some boundaries, or as a form of documentation of essential features. So naturally, an intuitive way of making an autonomous mobile robot is to implement geometrical information maps to represent the environment. On the other hand, if the robot does not have a previous map, it should build it while moving around. The robot computes the sensor information with the odometer sensor information to achieve this task. However, sensors have their own flaws due to precision, calibration, or accuracy. Furthermore, moving a robot has its physical constraints and faults that may occur randomly, like wheel drifting or mechanical miscalibration that may make the odometers fail in the measurement, causing misalignment during the map building. A novel technique was presented in the mid-90s to solve this problem and overpass the uncertainty of sensors while the robot is building the map, the Simultaneous Localization and Mapping algorithm (SLAM). Its goal is to build a map while the robot’s position is corrected based on the information of two or more consecutive scans matched together or find the rigid registration vector between them. This algorithm has been broadly studied and developed for almost 25 years. Nonetheless, it is highly relevant in innovations, modifications, and adaptations due to the advances in new sensors and the complexity of the scenarios in emerging mobile robotics applications. The scan matching algorithm aims to find a pose vector representing the transformation or movement between two robot observations by finding the best possible value after solving an equation representing a good transformation. It means searching for a solution in an optimum way. Typically this optimization process has been solved using classical optimization algorithms, like Newton’s algorithm or solving gradient and second derivatives formulations, yet this requires an initial guess or initial state that helps the algorithm point in the right direction, most of the time by getting this information from the odometers or inertial sensors. Although, it is not always possible to have or trust this information, as some scenarios are complex and reckon sensors fail. In order to solve this problem, this research presents the uses of evolutionary optimization algorithms, those with a meta-heuristics definition based on iterative evolution that mimics optimization processes that do not need previous information to search a limited range for solutions to solve a fitness function. The main goal of this dissertation is to study, develop and prove the benefits of evolutionary optimization algorithms in simultaneous localization and mapping for mobile robots in six degrees of freedom scenarios using LiDAR sensor information. This work introduces several evolutionary algorithms for scan matching, acknowledge a mixed fitness function for registration, solve simultaneous localization and matching in different scenarios, implements loop closure and error relaxation, and proves its performance at indoors, outdoors and underground mapping applications.Los robots móviles están creciendo en aplicaciones para moverse por entornos interiores y exteriores, pasando de aplicaciones teleoperadas a aplicaciones autónomas como explorar o navegar. Para que un robot se mueva a través de una ubicación en particular, necesita recopilar información sobre el escenario utilizando sensores. Estos sensores permiten que el robot observe, según el tipo de datos del sensor. Las cámaras en su mayoría brindan información en dos dimensiones, con colores y píxeles que representan una imagen. Los sensores de rango dan distancias desde el robot hasta los obstáculos. Las Cámaras de Profundidad mezclan ambas tecnologías para expandir su información a información tridimensional. Light Detection and Ranging (LiDAR) proporciona información sobre la distancia al sensor, pero amplía su rango a planos y tres dimensiones así como mejora la precisión. Por lo tanto, los robots móviles usan esos sensores para escanear el escenario mientras se mueven. Si el robot ya tiene un mapa, los sensores miden y el robot encuentra características que corresponden a características en dicho mapa para localizarse. La humanidad ha utilizado los mapas como una forma especializada de representar el medio ambiente durante más de 5000 años, convirtiéndose en una pieza de información importante en los usos básicos diarios de hoy en día. Los mapas se utilizan para navegar de un lugar a otro, localizar algo dentro de algunos límites o como una forma de documentación de características esenciales. Entonces, naturalmente, una forma intuitiva de hacer un robot móvil autónomo es implementar mapas de información geométrica para representar el entorno. Por otro lado, si el robot no tiene un mapa previo, deberá construirlo mientras se desplaza. El robot junta la información del sensor de distancias con la información del sensor del odómetro para lograr esta tarea de crear un mapa. Sin embargo, los sensores tienen sus propios defectos debido a la precisión, la calibración o la exactitud. Además, mover un robot tiene sus limitaciones físicas y fallas que pueden ocurrir aleatoriamente, como el desvío de las ruedas o una mala calibración mecánica que puede hacer que los contadores de desplazamiento fallen en la medición, lo que provoca una desalineación durante la construcción del mapa. A mediados de los años 90 se presentó una técnica novedosa para resolver este problema y superar la incertidumbre de los sensores mientras el robot construye el mapa, el algoritmo de localización y mapeo simultáneos (SLAM). Su objetivo es construir un mapa mientras se corrige la posición del robot en base a la información de dos o más escaneos consecutivos emparejados o encontrar el vector de correspondencia entre ellos. Este algoritmo ha sido ampliamente estudiado y desarrollado durante casi 25 años. No obstante, es muy relevante en innovaciones, modificaciones y adaptaciones debido a los avances en sensores y la complejidad de los escenarios en las aplicaciones emergentes de robótica móvil. El algoritmo de correspondencia de escaneo tiene como objetivo encontrar un vector de pose que represente la transformación o el movimiento entre dos observaciones del robot al encontrar el mejor valor posible después de resolver una ecuación que represente una buena transformación. Significa buscar una solución de forma óptima. Por lo general, este proceso de optimización se ha resuelto utilizando algoritmos de optimización clásicos, como el algoritmo de Newton o la resolución de formulaciones de gradientes y segundas derivadas, pero esto requiere una conjetura inicial o un estado inicial que ayude al algoritmo a apuntar en la dirección correcta, la mayoría de las veces obteniendo esta información de los sensores odometricos o sensores de inercia, aunque no siempre es posible tener o confiar en esta información, ya que algunos escenarios son complejos y los sensores fallan. Para resolver este problema, esta investigación presenta los usos de los algoritmos de optimización evolutiva, aquellos con una definición meta-heurística basada en la evolución iterativa que imita los procesos de optimización que no necesitan información previa para buscar dentro de un rango limitado el grupo de soluciones que resuelve una función de calidad. El objetivo principal de esta tesis es estudiar, desarrollar y probar los usos de algoritmos de optimización evolutiva en localización y mapeado simultáneos para robots móviles en escenarios de seis grados de libertad utilizando información de sensores LiDAR. Este trabajo introduce varios algoritmos evolutivos que resuelven la correspondencia entre medidas, soluciona el problema de SLAM, implementa una fusion de funciones objetivos y demuestra sus ventajas con pruebas en escenarios reales tanto en interiores, exteriores como mapeado de escenarios subterraneos.Programa de Doctorado en Ingeniería Eléctrica, Electrónica y Automática por la Universidad Carlos III de MadridPresidente: Gerardo Fernández López.- Secretario: María Dolores Blanco Rojas.- Vocal: David Álvarez Sánche
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