Gradient Eigen-decomposition Invariance Biogeography-based Optimization for Mobile Robot Path Planning

The path planning for mobile robots has attracted extensive attention, and evolutionary algorithms have been applied to this problem increas-ingly. In this paper, we propose a novel gradient eigen-decomposition invariance biogeography-based optimization (GEI-BBO) for mobile robot path planning, which has the merits of high rotation invariance and excel-lent search performance. In GEI-BBO, we design an eigen-decomposition mechanism for migration operation, which can reduce the dependence of biogeography-based optimization (BBO) on the coordinate system, improve the rotation invariance and share the information between eigen solutions more effectively. Meanwhile, to find the local opti-mal solution better, gradient descent is added, and the system search strategy can reduce the occurrence of local trapping phenomenon. In addition, combining the GEI-BBO with cubic spline interpola-tion will solve the problem of mobile robot path planning through a defined coding method and fitness function. A series of experiments are implemented on benchmark functions, whose results indicated that the optimization performance of GEI-BBO is superior to other algo-rithms. And the successful application of GEI-BBO for path planning in different environments confirms its effectiveness and practicability.

Combination of Texture and Shape Features Using Machine and Deep Learning Algorithms for Breast Cancer Diagnosis

Worldwide, breast cancer is a commonly occurring disease in women. Automatic diagnosis of the lesions based on mammographic images is playing an essential role to assist experts. A novel Computer-Aided Diagnosis (CADx) scheme of breast lesion classification is proposed in this paper based on an optimized combination of texture and shape features using machine and deep learning algorithms for mass classification as benign-malignant namely C(M-ZMs)*. The main advantage of using Zernike moments for shape feature extraction is their scale, translation, and rotation invariance property, this allows omitting some of the preprocessing stages in our case. We implemented for texture feature extraction the Monogenic-Local Binary Pattern taking the advantage of lower time and space complexity because monogenic signal analysis needs fewer convolutions and generates more compact feature vectors. Therefore, we used Zernike moments for shape feature extraction due to their scale, translation, and rotation invariance property, this allows omitting some of the preprocessing stages in our proposed system. The proposed system proves its performance on some challenging breast cancer cases where the lesions exist in dense breast tissues. Validation has been undertaken on 520 mammograms from the Digital Database for Screening Mammography Database (DDSM), yielding an accuracy rate of 99.5\%.

RIGID TRACKING FOR SCALE AND ROTATION VARYING TARGETS FROM MOVING CAMERA

Targets when move rapidly needed to be tracked in many significant fields such as in combat applications. Objects undergoes many scale changes and also undergoes rotation variance. The target when viewed from static position, the size becomes smaller as the target moves farther and farther. Tracking the targets needs more attention and this can be done by Improved optical flow to which feature extraction through Histogram of Oriented Gradients and Random Sample Consensus (RANSAC) algorithm for scale and rotation invariance is added. The performance of the method is measured by its computation time, accuracy and high true positive values and other related parameters simulated in MAT LAB.

Black-hole solution in nonlinear electrodynamics with the maximum allowable symmetries

The nonlinear Maxwell Lagrangian preserving both conformal and SO(2) duality-rotation invariance has been introduced very recently. Here, in the context of Einstein’s theory of gravity minimally coupled with this nonlinear electrodynamics, we obtain a black hole solution which is the Reissner–Nordström black hole with one additional parameter that is coming from the nonlinear theory. We employ the causality and unitarity principles to identify an upper bound for this free parameter. The effects of this parameter on the physical properties of the black hole solution are investigated.