Robot navigation and target capturing using nature-inspired approaches in a dynamic environment

Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a collision-free trajectory in a dynamic environment. The path planning problem has sought to be of extreme importance in the military, search and rescue missions and in life-saving tasks. During its operation, the unmanned air vehicle operates in a hostile environment, and faster replanning is needed to reach the target as optimally as possible. This paper presents a novel approach of hierarchical planning using multiresolution abstract levels for faster replanning. Economic constraints like path length, total path planning time and the number of turns are taken into consideration that mandate the use of cost functions. Experimental results show that the hierarchical version of GSO gives better performance compared to the BBO, IWO and their hierarchical versions.Comment: 8 pages, 8 figure

Identification of moving vehicular parameters based on glowworm swarm optimization algorithm

This paper presents an indirect method for the identification of parameters of moving vehicle based on Glowworm Swarm Optimization (GSO) algorithm. And a local search method is introduced in the movement phase of GSO to enhance the accuracy and convergence rate. The moving vehicle is modeled as 2-DOF systems with five parameters. And Newmark direct integration method is used to calculate the dynamic response of the system. Acceleration measurements at selected stations on the vehicle are used only to identify the parameters of the moving vehicle. Several test cases are carried out to illustrate the efficiency of the method and the results show that the vehicle parameters can be identified precisely with the proposed method and it is not sensitive to measurement noise

Comparative Analysis of MFO, GWO and GSO for Classification of Covid-19 Chest X-Ray Images

تلعب الصور الطبية دورًا حاسمًا في تصنيف الأمراض والحالات المختلفة. إحدى طرق التصوير هي الأشعة السينية التي توفر معلومات بصرية قيمة تساعد في تحديد وتوصيف مختلف الحالات الطبية. لطالما استخدمت الصور الشعاعية للصدر (CXR) لفحص ومراقبة العديد من اضطرابات الرئة، مثل السل والالتهاب الرئوي وانخماص الرئة والفتق. يمكن الكشف عن COVID-19 باستخدام صور CXR أيضًا. تم اكتشاف COVID-19، وهو فيروس يسبب التهابات في الرئتين والممرات الهوائية في الجهاز التنفسي العلوي، لأول مرة في عام 2019 في مقاطعة ووهان بالصين، ومنذ ذلك الحين يُعتقد أنه يتسبب في تلف كبير في مجرى الهواء، مما يؤثر بشدة على رئة الأشخاص المصابين. انتشر الفيروس بسرعة في جميع أنحاء العالم، وتم تسجيل الكثير من الوفيات والحالات المتزايدة بشكل يومي. يمكن استخدام CXR لمراقبة آثار COVID-19 على أنسجة الرئة. تبحث هذه الدراسة في تحليل مقارنة لأقرب جيران k (KNN)، و Extreme Gradient Boosting (XGboost)، و Support-Vector Machine (SVM)، وهي بعض مناهج التصنيف لاختيار الميزات في هذا المجال باستخدام خوارزمية Moth-Flame Optimization (MFO)، وخوارزمية Gray Wolf Optimizer (GWO)، وخوارزمية Glowworm Swarm Optimization (GSO). في هذه الدراسة، استخدم الباحثون مجموعة بيانات تتكون من مجموعتين على النحو التالي: 9544 صورة بالأشعة السينية ثنائية الأبعاد، والتي تم تصنيفها إلى مجموعتين باستخدام اختبارات التحقق من صحتها: 5500 صورة لرئتين سليمتين و4044 صورة للرئتين مع COVID-19. تتضمن المجموعة الثانية 800 صورة و400 صورة لرئتين سليمتين و400 رئة مصابة بـ COVID-19. تم تغيير حجم كل صورة إلى 200 × 200 بكسل. كانت الدقة والاستدعاء ودرجة F1 من بين معايير التقييم الكمي المستخدمة في هذه الدراسة.Medical images play a crucial role in the classification of various diseases and conditions. One of the imaging modalities is X-rays which provide valuable visual information that helps in the identification and characterization of various medical conditions. Chest radiograph (CXR) images have long been used to examine and monitor numerous lung disorders, such as tuberculosis, pneumonia, atelectasis, and hernia. COVID-19 detection can be accomplished using CXR images as well. COVID-19, a virus that causes infections in the lungs and the airways of the upper respiratory tract, was first discovered in 2019 in Wuhan Province, China, and has since been thought to cause substantial airway damage, badly impacting the lungs of affected persons. The virus was swiftly gone viral around the world and a lot of fatalities and cases growing were recorded on a daily basis. CXR can be used to monitor the effects of COVID-19 on lung tissue. This study examines a comparison analysis of k-nearest neighbors (KNN), Extreme Gradient Boosting (XGboost), and Support-Vector Machine (SVM) are some classification approaches for feature selection in this domain using The Moth-Flame Optimization algorithm (MFO), The Grey Wolf Optimizer algorithm (GWO), and The Glowworm Swarm Optimization algorithm (GSO). For this study, researchers employed a data set consisting of two sets as follows: 9,544 2D X-ray images, which were classified into two sets utilizing validated tests: 5,500 images of healthy lungs and 4,044 images of lungs with COVID-19. The second set includes 800 images, 400 of healthy lungs and 400 of lungs affected with COVID-19. Each image has been resized to 200x200 pixels. Precision, recall, and the F1-score were among the quantitative evaluation criteria used in this study