• Title/Summary/Keyword: Random Tree Particle

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An Optimized Random Tree and Particle Swarm Algorithm For Distribution Environments

  • Feng, Zhou;Lee, Un-Kon
    • Journal of Distribution Science
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    • v.13 no.6
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    • pp.11-15
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    • 2015
  • Purpose - Robot path planning, a constrained optimization problem, has been an active research area with many methods developed to tackle it. This study proposes the use of a Rapidly-exploring Random Tree and Particle Swarm Optimizer algorithm for path planning. Research design, data, and methodology - The grid method is built to describe the working space of the mobile robot, then the Rapidly-exploring Random Tree algorithm is applied to obtain the global navigation path and the Particle Swarm Optimizer algorithm is adopted to obtain the best path. Results - Computer experiment results demonstrate that this novel algorithm can rapidly plan an optimal path in a cluttered environment. Successful obstacle avoidance is achieved, the model is robust, and performs reliably. The effectiveness and efficiency of the proposed algorithm is demonstrated through simulation studies. Conclusions - The findings could provide insights to the validity and practicability of the method. This method makes it is easy to build a model and meet real-time demand for mobile robot navigation with a simple algorithm, which results in a certain practical value for distribution environments.

Approach toward footstep planning considering the walking period: Optimization-based fast footstep planning for humanoid robots

  • Lee, Woong-Ki;Kim, In-Seok;Hong, Young-Dae
    • ETRI Journal
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    • v.40 no.4
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    • pp.471-482
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    • 2018
  • This paper proposes the necessity of a walking period in footstep planning and details situations in which it should be considered. An optimization-based fast footstep planner that takes the walking period into consideration is also presented. This footstep planner comprises three stages. A binary search is first used to determine the walking period. The front stride, side stride, and walking direction are then determined using the modified rapidly-exploring random tree algorithm. Finally, particle swarm optimization (PSO) is performed to ensure feasibility without departing significantly from the results determined in the two stages. The parameters determined in the previous two stages are optimized together through the PSO. Fast footstep planning is essential for coping with dynamic obstacle environments; however, optimization techniques may require a large computation time. The two stages play an important role in limiting the search space in the PSO. This framework enables fast footstep planning without compromising on the benefits of a continuous optimization approach.

Exploring the Feature Selection Method for Effective Opinion Mining: Emphasis on Particle Swarm Optimization Algorithms

  • Eo, Kyun Sun;Lee, Kun Chang
    • Journal of the Korea Society of Computer and Information
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    • v.25 no.11
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    • pp.41-50
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    • 2020
  • Sentimental analysis begins with the search for words that determine the sentimentality inherent in data. Managers can understand market sentimentality by analyzing a number of relevant sentiment words which consumers usually tend to use. In this study, we propose exploring performance of feature selection methods embedded with Particle Swarm Optimization Multi Objectives Evolutionary Algorithms. The performance of the feature selection methods was benchmarked with machine learning classifiers such as Decision Tree, Naive Bayesian Network, Support Vector Machine, Random Forest, Bagging, Random Subspace, and Rotation Forest. Our empirical results of opinion mining revealed that the number of features was significantly reduced and the performance was not hurt. In specific, the Support Vector Machine showed the highest accuracy. Random subspace produced the best AUC results.

Damage identification in suspension bridges under earthquake excitation using practical advanced analysis and hybrid machine-learning models

  • Van-Thanh Pham;Duc-Kien Thai;Seung-Eock Kim
    • Steel and Composite Structures
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    • v.52 no.6
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    • pp.695-711
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    • 2024
  • Suspension bridges are critical to urban transportation, but those in earthquake-prone areas face unique challenges. In the event of a moderate or strong earthquake, conventional linear theory-based approaches for detecting bridge damage become inadequate. This study presents an efficient method for identifying damage in suspension bridges using time history nonlinear inelastic analysis. A practical advanced analysis program is employed to model cable-supported bridges with low computational cost, generating a dataset for four hybrid models: PSO-DT, PSO-RF, PSO-XGB, and PSO-CGB. These models combine decision tree (DT), random forest (RF), extreme gradient boosting (XGB), and categorical gradient boosting (CGB) with particle swarm optimization (PSO) to capture nonlinear correlations between displacement response and damage. Principal component analysis reduces dataset dimensions, and PSO selects the optimal model. A numerical case study of a suspension bridge under simulated earthquake conditions identifies PSO-XGB as the best model for predicting stiffness reduction. The results demonstrate the method's robustness for nonlinear damage detection in suspension bridges under earthquake excitation.

Steel Plate Faults Diagnosis with S-MTS (S-MTS를 이용한 강판의 표면 결함 진단)

  • Kim, Joon-Young;Cha, Jae-Min;Shin, Junguk;Yeom, Choongsub
    • Journal of Intelligence and Information Systems
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    • v.23 no.1
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    • pp.47-67
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    • 2017
  • Steel plate faults is one of important factors to affect the quality and price of the steel plates. So far many steelmakers generally have used visual inspection method that could be based on an inspector's intuition or experience. Specifically, the inspector checks the steel plate faults by looking the surface of the steel plates. However, the accuracy of this method is critically low that it can cause errors above 30% in judgment. Therefore, accurate steel plate faults diagnosis system has been continuously required in the industry. In order to meet the needs, this study proposed a new steel plate faults diagnosis system using Simultaneous MTS (S-MTS), which is an advanced Mahalanobis Taguchi System (MTS) algorithm, to classify various surface defects of the steel plates. MTS has generally been used to solve binary classification problems in various fields, but MTS was not used for multiclass classification due to its low accuracy. The reason is that only one mahalanobis space is established in the MTS. In contrast, S-MTS is suitable for multi-class classification. That is, S-MTS establishes individual mahalanobis space for each class. 'Simultaneous' implies comparing mahalanobis distances at the same time. The proposed steel plate faults diagnosis system was developed in four main stages. In the first stage, after various reference groups and related variables are defined, data of the steel plate faults is collected and used to establish the individual mahalanobis space per the reference groups and construct the full measurement scale. In the second stage, the mahalanobis distances of test groups is calculated based on the established mahalanobis spaces of the reference groups. Then, appropriateness of the spaces is verified by examining the separability of the mahalanobis diatances. In the third stage, orthogonal arrays and Signal-to-Noise (SN) ratio of dynamic type are applied for variable optimization. Also, Overall SN ratio gain is derived from the SN ratio and SN ratio gain. If the derived overall SN ratio gain is negative, it means that the variable should be removed. However, the variable with the positive gain may be considered as worth keeping. Finally, in the fourth stage, the measurement scale that is composed of selected useful variables is reconstructed. Next, an experimental test should be implemented to verify the ability of multi-class classification and thus the accuracy of the classification is acquired. If the accuracy is acceptable, this diagnosis system can be used for future applications. Also, this study compared the accuracy of the proposed steel plate faults diagnosis system with that of other popular classification algorithms including Decision Tree, Multi Perception Neural Network (MLPNN), Logistic Regression (LR), Support Vector Machine (SVM), Tree Bagger Random Forest, Grid Search (GS), Genetic Algorithm (GA) and Particle Swarm Optimization (PSO). The steel plates faults dataset used in the study is taken from the University of California at Irvine (UCI) machine learning repository. As a result, the proposed steel plate faults diagnosis system based on S-MTS shows 90.79% of classification accuracy. The accuracy of the proposed diagnosis system is 6-27% higher than MLPNN, LR, GS, GA and PSO. Based on the fact that the accuracy of commercial systems is only about 75-80%, it means that the proposed system has enough classification performance to be applied in the industry. In addition, the proposed system can reduce the number of measurement sensors that are installed in the fields because of variable optimization process. These results show that the proposed system not only can have a good ability on the steel plate faults diagnosis but also reduce operation and maintenance cost. For our future work, it will be applied in the fields to validate actual effectiveness of the proposed system and plan to improve the accuracy based on the results.