Fuzzy clustering and enumeration of target type based on sonar returns

Cataloged from PDF version of article.The fuzzy c-means (FCM) clustering algorithm is used in conjunction with a cluster validity criterion, to determine the number of different types of targets in a given environment, based on their sonar signatures. The class of each target and its location are also determined. The method is experimentally verified using real sonar returns from targets in indoor environments. A correct differentiation rate of 98% is achieved with average absolute valued localization errors of 0.5 cm and 0.8degrees in range and azimuth, respectively. (C) 2003 Pattern Recognition Society. Published by Elsevier Ltd. All rights reserved

High-frequency side-scan sonar fish reconnaissance by autonomous underwater vehicles

Author Posting. © The Author(s), 2016. This is the author's version of the work. It is posted here by permission of NRC Research Press for personal use, not for redistribution. The definitive version was published in Canadian Journal of Fisheries and Aquatic Sciences 74 (2017): 240-255, doi:10.1139/cjfas-2015-0301.A dichotomy between depth penetration and resolution as a function of sonar frequency, draw resolution, and beam spread challenges fish target classification from sonar. Moving high-frequency sources to depth using autonomous underwater vehicles (AUVs) mitigates this and also co-locates transducers with other AUV-mounted short-range sensors to allow a holistic approach to ecological surveys. This widely available tool with a pedigree for bottom mapping is not commonly applied to fish reconnaissance and requires the development of an interpretation of pelagic reflective features, revisitation of count methods, image-processing rather than wave-form recognition for automation, and an understanding of bias. In a series of AUV mission test cases, side-scan sonar (600 and 900 kHz) returns often resolved individual school members, spacing, size, behavior, and (infrequently) species from anatomical features and could be intuitively classified by ecologists — but also produced artifacts. Fish often followed the AUV and thus were videographed, but in doing so removed themselves from the sonar aperture. AUV-supported high-frequency side-scan holds particular promise for survey of scarce, large species or for synergistic investigation of predators and their prey because the spatial scale of observations may be similar to those of predators.AUV missions were funded by an Office of Naval Research grant to the Woods Hole Oceanographic Institution and Rutgers University. The field work was supported by the Office of Naval Research under grant N00014-11-1-0160

Neural Networks for improved signal source enumeration and localization with unsteered antenna arrays

Direction of Arrival estimation using unsteered antenna arrays, unlike mechanically scanned or phased arrays, requires complex algorithms which perform poorly with small aperture arrays or without a large number of observations, or snapshots. In general, these algorithms compute a sample covriance matrix to obtain the direction of arrival and some require a prior estimate of the number of signal sources. Herein, artificial neural network architectures are proposed which demonstrate improved estimation of the number of signal sources, the true signal covariance matrix, and the direction of arrival. The proposed number of source estimation network demonstrates robust performance in the case of coherent signals where conventional methods fail. For covariance matrix estimation, four different network architectures are assessed and the best performing architecture achieves a 20 times improvement in performance over the sample covariance matrix. Additionally, this network can achieve comparable performance to the sample covariance matrix with 1/8-th the amount of snapshots. For direction of arrival estimation, preliminary results are provided comparing six architectures which all demonstrate high levels of accuracy and demonstrate the benefits of progressively training artificial neural networks by training on a sequence of sub- problems and extending to the network to encapsulate the entire process

Contributions to Robust Graph Clustering: Spectral Analysis and Algorithms

This dissertation details the design of fast, and parameter free, graph clustering methods to robustly determine set cluster assignments. It provides spectral analysis as well as algorithms that adapt the obtained theoretical results to the implementation of robust graph clustering techniques. Sparsity is of importance in graph clustering and a first contribution of the thesis is the definition of a sparse graph model consistent with the graph clustering objectives. This model is based on an advantageous property, arising from a block diagonal representation, of a matrix that promotes the density of connections within clusters and sparsity between them. Spectral analysis of the sparse graph model including the eigen-decomposition of the Laplacian matrix is conducted. The analysis of the Laplacian matrix is simplified by defining a vector that carries all the relevant information that is contained in the Laplacian matrix. The obtained spectral properties of sparse graphs are adapted to sparsity-aware clustering based on two methods that formulate the determination of the sparsity level as approximations to spectral properties of the sparse graph models. A second contribution of this thesis is to analyze the effects of outliers on graph clustering and to propose algorithms that address robustness and the level of sparsity jointly. The basis for this contribution is to specify fundamental outlier types that occur in the cases of extreme sparsity and the mathematical analysis of their effects on sparse graphs to develop graph clustering algorithms that are robust against the investigated outlier effects. Based on the obtained results, two different robust and sparsity-aware affinity matrix construction methods are proposed. Motivated by the outliers’ effects on eigenvectors, a robust Fiedler vector estimation and a robust spectral clustering methods are proposed. Finally, an outlier detection algorithm that is built upon the vertex degree is proposed and applied to gait analysis. The results of this thesis demonstrate the importance of jointly addressing robustness and the level of sparsity for graph clustering algorithms. Additionally, simplified Laplacian matrix analysis provides promising results to design graph construction methods that may be computed efficiently through the optimization in a vector space instead of the usually used matrix space

Mobile Robots Navigation

Mobile robots navigation includes different interrelated activities: (i) perception, as obtaining and interpreting sensory information; (ii) exploration, as the strategy that guides the robot to select the next direction to go; (iii) mapping, involving the construction of a spatial representation by using the sensory information perceived; (iv) localization, as the strategy to estimate the robot position within the spatial map; (v) path planning, as the strategy to find a path towards a goal location being optimal or not; and (vi) path execution, where motor actions are determined and adapted to environmental changes. The book addresses those activities by integrating results from the research work of several authors all over the world. Research cases are documented in 32 chapters organized within 7 categories next described

Classification of microarray gene expression cancer data by using artificial intelligence methods

Günümüzde bilgisayar teknolojilerinin gelişmesi ile birçok alanda yapılan çalışmaları etkilemiştir. Moleküler biyoloji ve bilgisayar teknolojilerinde meydana gelen gelişmeler biyoinformatik adlı bilimi ortaya çıkarmıştır. Biyoinformatik alanında meydana gelen hızlı gelişmeler, bu alanda çözülmeyi bekleyen birçok probleme çözüm olma yolunda büyük katkılar sağlamıştır. DNA mikroarray gen ekspresyonlarının sınıflandırılması da bu problemlerden birisidir. DNA mikroarray çalışmaları, biyoinformatik alanında kullanılan bir teknolojidir. DNA mikroarray veri analizi, kanser gibi genlerle alakalı hastalıkların teşhisinde çok etkin bir rol oynamaktadır. Hastalık türüne bağlı gen ifadeleri belirlenerek, herhangi bir bireyin hastalıklı gene sahip olup olmadığı büyük bir başarı oranı ile tespit edilebilir. Bireyin sağlıklı olup olmadığının tespiti için, mikroarray gen ekspresyonları üzerinde yüksek performanslı sınıflandırma tekniklerinin kullanılması büyük öneme sahiptir. DNA mikroarray’lerini sınıflandırmak için birçok yöntem bulunmaktadır. Destek Vektör Makinaları, Naive Bayes, k-En yakın Komşu, Karar Ağaçları gibi birçok istatistiksel yöntemler yaygın olarak kullanlmaktadır. Fakat bu yöntemler tek başına kullanıldığında, mikroarray verilerini sınıflandırmada her zaman yüksek başarı oranları vermemektedir. Bu yüzden mikroarray verilerini sınıflandırmada yüksek başarı oranları elde etmek için yapay zekâ tabanlı yöntemlerin de kullanılması yapılan çalışmalarda görülmektedir. Bu çalışmada, bu istatistiksel yöntemlere ek olarak yapay zekâ tabanlı ANFIS gibi bir yöntemi kullanarak daha yüksek başarı oranları elde etmek amaçlanmıştır. İstatistiksel sınıflandırma yöntemleri olarak K-En Yakın Komşuluk, Naive Bayes ve Destek Vektör Makineleri kullanılmıştır. Burada Göğüs ve Merkezi Sinir Sistemi kanseri olmak üzere iki farklı kanser veri seti üzerinde çalışmalar yapılmıştır. Sonuçlardan elde edilen bilgilere göre, genel olarak yapay zekâ tabanlı ANFIS tekniğinin, istatistiksel yöntemlere göre daha başarılı olduğu tespit edilmiştir

Proceedings of the GIS Research UK 18th Annual Conference GISRUK 2010

This volume holds the papers from the 18th annual GIS Research UK (GISRUK). This year the conference, hosted at University College London (UCL), from Wednesday 14 to Friday 16 April 2010. The conference covered the areas of core geographic information science research as well as applications domains such as crime and health and technological developments in LBS and the geoweb. UCL’s research mission as a global university is based around a series of Grand Challenges that affect us all, and these were accommodated in GISRUK 2010. The overarching theme this year was “Global Challenges”, with specific focus on the following themes: * Crime and Place * Environmental Change * Intelligent Transport * Public Health and Epidemiology * Simulation and Modelling * London as a global city * The geoweb and neo-geography * Open GIS and Volunteered Geographic Information * Human-Computer Interaction and GIS Traditionally, GISRUK has provided a platform for early career researchers as well as those with a significant track record of achievement in the area. As such, the conference provides a welcome blend of innovative thinking and mature reflection. GISRUK is the premier academic GIS conference in the UK and we are keen to maintain its outstanding record of achievement in developing GIS in the UK and beyond

Proceedings. 19. Workshop Computational Intelligence, Dortmund, 2. - 4. Dezember 2009

Dieser Tagungsband enthält die Beiträge des 19. Workshops „Computational Intelligence“ des Fachausschusses 5.14 der VDI/VDE-Gesellschaft für Mess- und Automatisierungstechnik (GMA) und der Fachgruppe „Fuzzy-Systeme und Soft-Computing“ der Gesellschaft für Informatik (GI), der vom 2.-4. Dezember 2009 im Haus Bommerholz bei Dortmund stattfindet