4,126 research outputs found
Enhancing feature selection with a novel hybrid approach incorporating genetic algorithms and swarm intelligence techniques
Computing advances in data storage are leading to rapid growth in large-scale datasets. Using all features increases temporal/spatial complexity and negatively influences performance. Feature selection is a fundamental stage in data preprocessing, removing redundant and irrelevant features to minimize the number of features and enhance the performance of classification accuracy. Numerous optimization algorithms were employed to handle feature selection (FS) problems, and they outperform conventional FS techniques. However, there is no metaheuristic FS method that outperforms other optimization algorithms in many datasets. This motivated our study to incorporate the advantages of various optimization techniques to obtain a powerful technique that outperforms other methods in many datasets from different domains. In this article, a novel combined method GASI is developed using swarm intelligence (SI) based feature selection techniques and genetic algorithms (GA) that uses a multi-objective fitness function to seek the optimal subset of features. To assess the performance of the proposed approach, seven datasets have been collected from the UCI repository and exploited to test the newly established feature selection technique. The experimental results demonstrate that the suggested method GASI outperforms many powerful SI-based feature selection techniques studied. GASI obtains a better average fitness value and improves classification performance
A Trust Management Framework for Vehicular Ad Hoc Networks
The inception of Vehicular Ad Hoc Networks (VANETs) provides an opportunity for road users and public infrastructure to share information that improves the operation of roads and the driver experience. However, such systems can be vulnerable to malicious external entities and legitimate users. Trust management is used to address attacks from legitimate users in accordance with a userâs trust score. Trust models evaluate messages to assign rewards or punishments. This can be used to influence a driverâs future behaviour or, in extremis, block the driver. With receiver-side schemes, various methods are used to evaluate trust including, reputation computation, neighbour recommendations, and storing historical information. However, they incur overhead and add a delay when deciding whether to accept or reject messages. In this thesis, we propose a novel Tamper-Proof Device (TPD) based trust framework for managing trust of multiple drivers at the sender side vehicle that updates trust, stores, and protects information from malicious tampering. The TPD also regulates, rewards, and punishes each specific driver, as required. Furthermore, the trust score determines the classes of message that a driver can access. Dissemination of feedback is only required when there is an attack (conflicting information). A Road-Side Unit (RSU) rules on a dispute, using either the sum of products of trust and feedback or official vehicle data if available. These âuntrue attacksâ are resolved by an RSU using collaboration, and then providing a fixed amount of reward and punishment, as appropriate. Repeated attacks are addressed by incremental punishments and potentially driver access-blocking when conditions are met. The lack of sophistication in this fixed RSU assessment scheme is then addressed by a novel fuzzy logic-based RSU approach. This determines a fairer level of reward and punishment based on the severity of incident, driver past behaviour, and RSU confidence. The fuzzy RSU controller assesses judgements in such a way as to encourage drivers to improve their behaviour. Although any driver can lie in any situation, we believe that trustworthy drivers are more likely to remain so, and vice versa. We capture this behaviour in a Markov chain model for the sender and reporter driver behaviours where a driverâs truthfulness is influenced by their trust score and trust state. For each trust state, the driverâs likelihood of lying or honesty is set by a probability distribution which is different for each state. This framework is analysed in Veins using various classes of vehicles under different traffic conditions. Results confirm that the framework operates effectively in the presence of untrue and inconsistent attacks. The correct functioning is confirmed with the system appropriately classifying incidents when clarifier vehicles send truthful feedback. The framework is also evaluated against a centralized reputation scheme and the results demonstrate that it outperforms the reputation approach in terms of reduced communication overhead and shorter response time. Next, we perform a set of experiments to evaluate the performance of the fuzzy assessment in Veins. The fuzzy and fixed RSU assessment schemes are compared, and the results show that the fuzzy scheme provides better overall driver behaviour. The Markov chain driver behaviour model is also examined when changing the initial trust score of all drivers
Online semi-supervised learning in non-stationary environments
Existing Data Stream Mining (DSM) algorithms assume the availability of labelled and
balanced data, immediately or after some delay, to extract worthwhile knowledge from the
continuous and rapid data streams. However, in many real-world applications such as
Robotics, Weather Monitoring, Fraud Detection Systems, Cyber Security, and Computer
Network Traffic Flow, an enormous amount of high-speed data is generated by Internet of
Things sensors and real-time data on the Internet. Manual labelling of these data streams
is not practical due to time consumption and the need for domain expertise. Another
challenge is learning under Non-Stationary Environments (NSEs), which occurs due to
changes in the data distributions in a set of input variables and/or class labels. The problem
of Extreme Verification Latency (EVL) under NSEs is referred to as Initially Labelled Non-Stationary Environment (ILNSE). This is a challenging task because the learning algorithms
have no access to the true class labels directly when the concept evolves. Several approaches
exist that deal with NSE and EVL in isolation. However, few algorithms address both issues
simultaneously. This research directly responds to ILNSEâs challenge in proposing two
novel algorithms âPredictor for Streaming Data with Scarce Labelsâ (PSDSL) and
Heterogeneous Dynamic Weighted Majority (HDWM) classifier. PSDSL is an Online Semi-Supervised Learning (OSSL) method for real-time DSM and is closely related to label
scarcity issues in online machine learning.
The key capabilities of PSDSL include learning from a small amount of labelled data in an
incremental or online manner and being available to predict at any time. To achieve this,
PSDSL utilises both labelled and unlabelled data to train the prediction models, meaning it
continuously learns from incoming data and updates the model as new labelled or
unlabelled data becomes available over time. Furthermore, it can predict under NSE
conditions under the scarcity of class labels. PSDSL is built on top of the HDWM classifier,
which preserves the diversity of the classifiers. PSDSL and HDWM can intelligently switch
and adapt to the conditions. The PSDSL adapts to learning states between self-learning,
micro-clustering and CGC, whichever approach is beneficial, based on the characteristics of
the data stream. HDWM makes use of âseedâ learners of different types in an ensemble to
maintain its diversity. The ensembles are simply the combination of predictive models
grouped to improve the predictive performance of a single classifier.
PSDSL is empirically evaluated against COMPOSE, LEVELIW, SCARGC and MClassification
on benchmarks, NSE datasets as well as Massive Online Analysis (MOA) data streams and real-world datasets. The results showed that PSDSL performed significantly better than
existing approaches on most real-time data streams including randomised data instances.
PSDSL performed significantly better than âStaticâ i.e. the classifier is not updated after it is
trained with the first examples in the data streams. When applied to MOA-generated data
streams, PSDSL ranked highest (1.5) and thus performed significantly better than SCARGC,
while SCARGC performed the same as the Static. PSDSL achieved better average prediction
accuracies in a short time than SCARGC.
The HDWM algorithm is evaluated on artificial and real-world data streams against existing
well-known approaches such as the heterogeneous WMA and the homogeneous Dynamic
DWM algorithm. The results showed that HDWM performed significantly better than WMA
and DWM. Also, when recurring concept drifts were present, the predictive performance of
HDWM showed an improvement over DWM. In both drift and real-world streams,
significance tests and post hoc comparisons found significant differences between
algorithms, HDWM performed significantly better than DWM and WMA when applied to
MOA data streams and 4 real-world datasets Electric, Spam, Sensor and Forest cover. The
seeding mechanism and dynamic inclusion of new base learners in the HDWM algorithms
benefit from the use of both forgetting and retaining the models. The algorithm also
provides the independence of selecting the optimal base classifier in its ensemble depending
on the problem.
A new approach, Envelope-Clustering is introduced to resolve the cluster overlap conflicts
during the cluster labelling process. In this process, PSDSL transforms the centroidsâ
information of micro-clusters into micro-instances and generates new clusters called
Envelopes. The nearest envelope clusters assist the conflicted micro-clusters and
successfully guide the cluster labelling process after the concept drifts in the absence of true
class labels. PSDSL has been evaluated on real-world problem âkeystroke dynamicsâ, and
the results show that PSDSL achieved higher prediction accuracy (85.3%) and SCARGC
(81.6%), while the Static (49.0%) significantly degrades the performance due to changes in
the users typing pattern. Furthermore, the predictive accuracies of SCARGC are found
highly fluctuated between (41.1% to 81.6%) based on different values of parameter âkâ
(number of clusters), while PSDSL automatically determine the best values for this
parameter
Climate Change and Critical Agrarian Studies
Climate change is perhaps the greatest threat to humanity today and plays out as a cruel engine of myriad forms of injustice, violence and destruction. The effects of climate change from human-made emissions of greenhouse gases are devastating and accelerating; yet are uncertain and uneven both in terms of geography and socio-economic impacts. Emerging from the dynamics of capitalism since the industrial revolution â as well as industrialisation under state-led socialism â the consequences of climate change are especially profound for the countryside and its inhabitants. The book interrogates the narratives and strategies that frame climate change and examines the institutionalised responses in agrarian settings, highlighting what exclusions and inclusions result. It explores how different people â in relation to class and other co-constituted axes of social difference such as gender, race, ethnicity, age and occupation â are affected by climate change, as well as the climate adaptation and mitigation responses being implemented in rural areas. The book in turn explores how climate change â and the responses to it - affect processes of social differentiation, trajectories of accumulation and in turn agrarian politics. Finally, the book examines what strategies are required to confront climate change, and the underlying political-economic dynamics that cause it, reflecting on what this means for agrarian struggles across the world. The 26 chapters in this volume explore how the relationship between capitalism and climate change plays out in the rural world and, in particular, the way agrarian struggles connect with the huge challenge of climate change. Through a huge variety of case studies alongside more conceptual chapters, the book makes the often-missing connection between climate change and critical agrarian studies. The book argues that making the connection between climate and agrarian justice is crucial
Robot-Enabled Construction Assembly with Automated Sequence Planning based on ChatGPT: RoboGPT
Robot-based assembly in construction has emerged as a promising solution to
address numerous challenges such as increasing costs, labor shortages, and the
demand for safe and efficient construction processes. One of the main obstacles
in realizing the full potential of these robotic systems is the need for
effective and efficient sequence planning for construction tasks. Current
approaches, including mathematical and heuristic techniques or machine learning
methods, face limitations in their adaptability and scalability to dynamic
construction environments. To expand the ability of the current robot system in
sequential understanding, this paper introduces RoboGPT, a novel system that
leverages the advanced reasoning capabilities of ChatGPT, a large language
model, for automated sequence planning in robot-based assembly applied to
construction tasks. The proposed system adapts ChatGPT for construction
sequence planning and demonstrate its feasibility and effectiveness through
experimental evaluation including Two case studies and 80 trials about real
construction tasks. The results show that RoboGPT-driven robots can handle
complex construction operations and adapt to changes on the fly. This paper
contributes to the ongoing efforts to enhance the capabilities and performance
of robot-based assembly systems in the construction industry, and it paves the
way for further integration of large language model technologies in the field
of construction robotics.Comment: 14 pages, 20 figures, submitted to IEEE Acces
Exploration autonome et efficiente de chantiers miniers souterrains inconnus avec un drone filaire
Abstract: Underground mining stopes are often mapped using a sensor located at the end of a pole that the operator introduces into the stope from a secure area. The sensor emits laser beams that provide the distance to a detected wall, thus creating a 3D map. This produces shadow zones and a low point density on the distant walls. To address these challenges, a research team from the UniversitĂ© de Sherbrooke is designing a tethered drone equipped with a rotating LiDAR for this mission, thus benefiting from several points of view. The wired transmission allows for unlimited flight time, shared computing, and real-time communication. For compatibility with the movement of the drone after tether entanglements, the excess length is integrated into an onboard spool, contributing to the drone payload. During manual piloting, the human factor causes problems in the perception and comprehension of a virtual 3D environment, as well as the execution of an optimal mission. This thesis focuses on autonomous navigation in two aspects: path planning and exploration. The system must compute a trajectory that maps the entire environment, minimizing the mission time and respecting the maximum onboard tether length. Path planning using a Rapidly-exploring Random Tree (RRT) quickly finds a feasible path, but the optimization is computationally expensive and the performance is variable and unpredictable. Exploration by the frontier method is representative of the space to be explored and the path can be optimized by solving a Traveling Salesman Problem (TSP) but existing techniques for a tethered drone only consider the 2D case and do not optimize the global path. To meet these challenges, this thesis presents two new algorithms. The first one, RRT-Rope, produces an equal or shorter path than existing algorithms in a significantly shorter computation time, up to 70% faster than the next best algorithm in a representative environment. A modified version of RRT-connect computes a feasible path, shortened with a deterministic technique that takes advantage of previously added intermediate nodes. The second algorithm, TAPE, is the first 3D cavity exploration method that focuses on minimizing mission time and unwound tether length. On average, the overall path is 4% longer than the method that solves the TSP, but the tether remains under the allowed length in 100% of the simulated cases, compared to 53% with the initial method. The approach uses a 2-level hierarchical architecture: global planning solves a TSP after frontier extraction, and local planning minimizes the path cost and tether length via a decision function. The integration of these two tools in the NetherDrone produces an intelligent system for autonomous exploration, with semi-autonomous features for operator interaction. This work opens the door to new navigation approaches in the field of inspection, mapping, and Search and Rescue missions.La cartographie des chantiers miniers souterrains est souvent rĂ©alisĂ©e Ă lâaide dâun capteur situĂ© au bout dâune perche que lâopĂ©rateur introduit dans le chantier, depuis une zone sĂ©curisĂ©e. Le capteur Ă©met des faisceaux laser qui fournissent la distance Ă un mur dĂ©tectĂ©, crĂ©ant ainsi une carte en 3D. Ceci produit des zones dâombres et une faible densitĂ© de points sur les parois Ă©loignĂ©es. Pour relever ces dĂ©fis, une Ă©quipe de recherche de lâUniversitĂ© de Sherbrooke conçoit un drone filaire Ă©quipĂ© dâun LiDAR rotatif pour cette mission, bĂ©nĂ©ficiant ainsi de plusieurs points de vue. La transmission filaire permet un temps de vol illimitĂ©, un partage de calcul et une communication en temps rĂ©el. Pour une compatibilitĂ© avec le mouvement du drone lors des coincements du fil, la longueur excĂ©dante est intĂ©grĂ©e dans une bobine embarquĂ©e, qui contribue Ă la charge utile du drone. Lors dâun pilotage manuel, le facteur humain entraĂźne des problĂšmes de perception et comprĂ©hension dâun environnement 3D virtuel, et dâexĂ©cution dâune mission optimale. Cette thĂšse se concentre sur la navigation autonome sous deux aspects : la planification de trajectoire et lâexploration. Le systĂšme doit calculer une trajectoire qui cartographie lâenvironnement complet, en minimisant le temps de mission et en respectant la longueur maximale de fil embarquĂ©e. La planification de trajectoire Ă lâaide dâun Rapidly-exploring Random Tree (RRT) trouve rapidement un chemin rĂ©alisable, mais lâoptimisation est coĂ»teuse en calcul et la performance est variable et imprĂ©visible. Lâexploration par la mĂ©thode des frontiĂšres est reprĂ©sentative de lâespace Ă explorer et le chemin peut ĂȘtre optimisĂ© en rĂ©solvant un Traveling Salesman Problem (TSP), mais les techniques existantes pour un drone filaire ne considĂšrent que le cas 2D et nâoptimisent pas le chemin global. Pour relever ces dĂ©fis, cette thĂšse prĂ©sente deux nouveaux algorithmes. Le premier, RRT-Rope, produit un chemin Ă©gal ou plus court que les algorithmes existants en un temps de calcul jusquâĂ 70% plus court que le deuxiĂšme meilleur algorithme dans un environnement reprĂ©sentatif. Une version modifiĂ©e de RRT-connect calcule un chemin rĂ©alisable, raccourci avec une technique dĂ©terministe qui tire profit des noeuds intermĂ©diaires prĂ©alablement ajoutĂ©s. Le deuxiĂšme algorithme, TAPE, est la premiĂšre mĂ©thode dâexploration de cavitĂ©s en 3D qui minimise le temps de mission et la longueur du fil dĂ©roulĂ©. En moyenne, le trajet global est 4% plus long que la mĂ©thode qui rĂ©sout le TSP, mais le fil reste sous la longueur autorisĂ©e dans 100% des cas simulĂ©s, contre 53% avec la mĂ©thode initiale. Lâapproche utilise une architecture hiĂ©rarchique Ă 2 niveaux : la planification globale rĂ©sout un TSP aprĂšs extraction des frontiĂšres, et la planification locale minimise le coĂ»t du chemin et la longueur de fil via une fonction de dĂ©cision. LâintĂ©gration de ces deux outils dans le NetherDrone produit un systĂšme intelligent pour lâexploration autonome, dotĂ© de fonctionnalitĂ©s semi-autonomes pour une interaction avec lâopĂ©rateur. Les travaux rĂ©alisĂ©s ouvrent la porte Ă de nouvelles approches de navigation dans le domaine des missions dâinspection, de cartographie et de recherche et sauvetage
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