Table Of ContentStudies in Computational Intelligence 664
Nadia Nedjah
Heitor Silvério Lopes
Luiza de Macedo Mourelle Editors
Designing with
Computational
Intelligence
Studies in Computational Intelligence
Volume 664
Series editor
Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland
e-mail: [email protected]
About this Series
The series “Studies in Computational Intelligence” (SCI) publishes new develop-
mentsandadvancesinthevariousareasofcomputationalintelligence—quicklyand
with a high quality. The intent is to cover the theory, applications, and design
methods of computational intelligence, as embedded in the fields of engineering,
computer science, physics and life sciences, as well as the methodologies behind
them. The series contains monographs, lecture notes and edited volumes in
computational intelligence spanning the areas of neural networks, connectionist
systems, genetic algorithms, evolutionary computation, artificial intelligence,
cellular automata, self-organizing systems, soft computing, fuzzy systems, and
hybrid intelligent systems. Of particular value to both the contributors and the
readership are the short publication timeframe and the worldwide distribution,
which enable both wide and rapid dissemination of research output.
More information about this series at http://www.springer.com/series/7092
é
Nadia Nedjah Heitor Silv rio Lopes
(cid:129)
Luiza de Macedo Mourelle
Editors
Designing with
Computational Intelligence
123
Editors
Nadia Nedjah LuizadeMacedo Mourelle
Department ofElectronics Engineering Department ofSystems Engineering
andTelecommunications andComputer Science
State University of RiodeJaneiro State University of RiodeJaneiro
RiodeJaneiro RiodeJaneiro
Brazil Brazil
Heitor SilvérioLopes
Department ofElectronics
Technological FederalUniversity of Paraná
(UTFPR)
Curitiba, Paraná
Brazil
ISSN 1860-949X ISSN 1860-9503 (electronic)
Studies in Computational Intelligence
ISBN978-3-319-44734-6 ISBN978-3-319-44735-3 (eBook)
DOI 10.1007/978-3-319-44735-3
LibraryofCongressControlNumber:2016947935
©SpringerInternationalPublishingSwitzerland2017
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Preface
Inrecentyears,computationalintelligencehasattractedmanyresearchers’attention
andsobecameaconsolidatedmethodologytoautomaticallycreatenewcompetitive
solution to complex real-world problems. Concise and efficient synthesis of a
varietyofsystemshasbeengeneratedusingcomputationallyintelligenttechniques.
Thisbookputstogetherasetofchapters,inwhichsomereal-worldapplicationsof
interest areapproachedusingcomputationalintelligence.Inthefollowing,wegive
a brief description of the main contribution of each of the included chapters.
In Chap. 1, which is entitled On Using Fuzzy Logic to Control a Simulated
Hexacopter Carrying an Attached Pendulum, the authors propose an approach
based on multiple interconnected fuzzy controllers, aiming at controlling the var-
ious aspects related to maneuverability of a hexacopter carrying a free payload
forming a pendulum. They simulated the behavior produced by the proposed
control system on a robotics simulation environment and analyzed the achieved
resultsintermsofflightstability,roll,pitchandyawmovements.Theauthorsclaim
that the results show the feasibility of the proposed approach, which allowed the
flight stability of the hexacopter.
In Chap. 2, which is entitled Monocular Pose Estimation for an Unmanned
Aerial Vehicle Using Spectral Features, the authors propose a visual position and
orientation estimation algorithm based on the discrete homography constraint,
induced by the presence of planar scenes and the so-called spectral features in the
image.Theauthorsclaimthetheirapproachhassomeuniquecharacteristics,which
aretheselectionofanappropriatedistributionofthefeatures,norequirementofan
initialization step nor a search for features and no impact of the presence of
corner-like features in the scene. The authors tested the proposed pose estimation
algorithminasimulateddataset.Theyprovetherobustnessofthespectralfeatures
in different conditions using a conveyor belt.
In Chap. 3, which is entitled Simultaneous Navigation and Mapping in an
AutonomousVehicleBasedonFuzzyLogic,theauthorspresentanavigationcontrol
and mapping of an autonomous car using fuzzy logic, enabling automatic obstacle
avoidanceinunknownenvironments.Theauthor’sstrategyisbasedonamapofthe
environmenttoplanthetrajectoriesavoidingobstaclesthroughthesearchalgorithm
v
vi Preface
A*. They evaluated the proposed approach in a virtual environment, where the
autonomous car moves among different obstacles.
In Chap. 4, which is entitled Fully Scalable Parallel Hardware for Wheeled
Robot Navigation Using Fuzzy Control, the authors describe a reconfigurable-
efficientarchitectureforfuzzycontrollers,suitableforembeddinginfinalproducts.
They show that the architecture is parameterizable allowing the setup and config-
uration of the controller so it can be used as a control in many applications. The
authors present and evaluate an application of the fuzzy controller hardware
architectureinthesupervisionofawheeledrobotduringnavigationinanunknown
environment.
In Chap. 5, which is entitled Nonlinear Correction for an Energy Estimator
Operating at Severe Pile-Up Conditions, the authors describe how computational
intelligencecanbeusedtoassistduringenergyestimationperformedbyanoptimal
linear method. They use an artificial neural network that is trained aiming at cor-
recting the nonlinearities introduced by the signal pile-up statistics. The authors
evaluate the efficiency of the various energy estimation methods using simulation
data under various signal pile-up scenarios.
In Chap. 6, which is entitled Non-supervised Learning Applied to Analysis of
Topological Metrics of Optical Networks, the authors offer a systematic method to
analyze different backbone optical networks, based on a non-supervised algorithm
for clustering. They investigate the power of a recently proposed topological
metrics, which along with three others are applied to identify the best canonical
model to represent real backbone optical networks. The authors claim that
according to the obtained results, the proposed clustering procedure that the
investigatemetricisthebestmetrictoexplaintheinstalledcapacityfortheanalyzed
networks.
In Chap. 7, which is entitled Mole Features Extraction for a Melanoma
RecognitionSystem,theauthorsproposethreealgorithmstoextractfeaturesofskin
moles based on dermatological studies, using digital image processing techniques
existing in the lecture. They also evaluate these features as input to classifiers
creating a melanoma recognition, and indicating whether it is a melanoma or
normal mole. The authors analyze the obtained results, which are shown through
ROCcurve and10-foldcross-validationfromtwodermatological datasetsAtlasof
Clinical Dermatology and DermNet NZ.
In Chap. 8, which is entitled Human–Machine Musical Composition in
Real-Time Based on Emotions Through a Fuzzy Logic Approach, the authors
present a method for representing human emotions in the context of musical
composition, which is used to artificially generate musical melodies using fuzzy
logic.Theytestedthegeneratedmelodieswithlistenersinanexperimentaimingat
of verifying if these melodies can produce emotions in them and whether those
emotions match the emotional intentions captured by humans.
InChap.9,whichisentitledARecursiveGeneticAlgorithm-BasedApproachfor
EducationalTimetablingProblems,theauthorsaddresstheeducationaltimetabling
problem for multiple courses, aiming at finding solutions that satisfy the hard
constraints and minimize the soft constraint violations. They propose a simple,
Preface vii
scalable and parameterized recursive approach to solve timetabling problems for
multiplecourseswithgeneticalgorithms,whichareefficientsearchmethodsusedto
achieve an pseudo-optimal solution.
InChap.10,whichisentitledEvolvingConnectionWeightsofArtificialNeural
Network Using a Multi-Objective Approach with Application to Class Prediction,
the authors investigate the applicability of two novel multi-objective evolutionary
algorithms: Speed constrained multi-objective particle swarm optimization and
multi-objective differential evolution algorithm based on decomposition with
dynamical resource allocation. They compare the obtained results using the
hypervolume as quality indicator.
In Chap. 11, which is entitled Diversification Strategies in Evolutionary
Algorithms: Application to the Scheduling of Power Network Outages, the authors
propose different strategies to avoid and/or fix premature convergence of evolu-
tionary algorithms. They claim that high diversification level is maintained
throughout the evolution process, so that an adequate trade-off between solution
quality and computational cost is achieved. Through numerical results, they illus-
tratetheapplicationoftheproposedstrategiesandrespectiveimpactonthequality
and computational cost of solutions.
In Chap. 12, which is entitled WBdetect: Particle Swarm Optimization for
Segmenting Weld Beads in Radiographic Images, the authors present an approach
for automatically segmenting weld beads in double wall double image X-ray
photographs by combining two known methods: Particle swarm optimization and
dynamic time warping. They show through experiments that the achieved results
are promising and outperform existing approach.
The editors are very much grateful to the authors of this volume and to the
reviewers for their tremendous service by critically reviewing the chapters. The
editors would like also to thank Prof. Janusz Kacprzyk, the editor-in-chief of the
Studies in Computational Intelligence Book Series and Dr. Thomas Ditzinger,
SpringerVerlag,Germanyfortheeditorialassistanceandexcellentcollaborationto
produce this important scientific work. We hope that the reader will share our
excitement to present this volume and will find it useful.
Rio de Janeiro, Brazil Nadia Nedjah
Curitiba, Brazil Heitor Silvério Lopes
Rio de Janeiro, Brazil Luiza de Macedo Mourelle
May 2016
Contents
1 On Using Fuzzy Logic to Control a Simulated Hexacopter
Carrying an Attached Pendulum... .... .... .... .... ..... .... 1
Emanoel Koslosky, Marco A. Wehrmeister, João A. Fabro
and André S. de Oliveira
2 Monocular Pose Estimation for an Unmanned Aerial
Vehicle Using Spectral Features.... .... .... .... .... ..... .... 33
Gastón Araguás, Claudio Paz, Gonzalo Perez Paina
and Luis Canali
3 Simultaneous Navigation and Mapping in an Autonomous
Vehicle Based on Fuzzy Logic . .... .... .... .... .... ..... .... 53
Álvaro Luiz Sordi Filho, Leonardo Presoto de Oliveira,
André Schneider de Oliveira, João Alberto Fabro
and Marco Aurélio Wehrmeister
4 Fully Scalable Parallel Hardware for Wheeled Robot
Navigation Using Fuzzy Control ... .... .... .... .... ..... .... 69
Nadia Nedjah, Paulo Renato S.S. Sandres and Luiza de Macedo
Mourelle
5 Nonlinear Correction for an Energy Estimator Operating
at Severe Pile-Up Conditions .. .... .... .... .... .... ..... .... 87
Bernardo Sotto-Maior Peralva, Alessa Monay e Silva,
Luciano Manhães de Andrade Filho, Augusto Santiago Cerqueira
and José Manoel de Seixas
6 Non-supervised Learning Applied to Analysis of Topological
Metrics of Optical Networks... .... .... .... .... .... ..... .... 109
Danilo R.B. de Araújo, Joaquim F. Martins-Filho
and Carmelo J.A. Bastos-Filho
7 Mole Features Extraction for a Melanoma Recognition System ... 127
Henrique C. Siqueira and Bruno J.T. Fernandes
ix
x Contents
8 Human–Machine Musical Composition in Real-Time Based
on Emotions Through a Fuzzy Logic Approach... .... ..... .... 143
Pedro Lucas, Efraín Astudillo and Enrique Peláez
9 A Recursive Genetic Algorithm-Based Approach
for Educational Timetabling Problems .. .... .... .... ..... .... 161
Shara S.A. Alves, Saulo A.F. Oliveira
and Ajalmar R. Rocha Neto
10 Evolving Connection Weights of Artificial Neural Network
Using a Multi-Objective Approach with Application
to Class Prediction . .... ..... .... .... .... .... .... ..... .... 177
Andrei Strickler and Aurora Pozo
11 Diversification Strategies in Evolutionary Algorithms:
Application to the Scheduling of Power Network Outages.... .... 199
Rainer Zanghi, Julio Cesar Stacchini de Souza
and Milton Brown Do Coutto Filho
12 WBdetect: Particle Swarm Optimization for Segmenting
Weld Beads in Radiographic Images.... .... .... .... ..... .... 217
Rafael Miranda, Myriam Delgado, Tania Mezzadri,
Ricardo Dutra da Silva, Marlon Vaz and Carla Marinho
Author Index.. .... .... .... ..... .... .... .... .... .... ..... .... 237
