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Becerra-Rozas M, Crawford B, Soto R, Talbi EG, Gómez-Pulido JM. Challenging the Limits of Binarization: A New Scheme Selection Policy Using Reinforcement Learning Techniques for Binary Combinatorial Problem Solving. Biomimetics (Basel) 2024; 9:89. [PMID: 38392135 PMCID: PMC10887011 DOI: 10.3390/biomimetics9020089] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/29/2023] [Revised: 01/13/2024] [Accepted: 01/30/2024] [Indexed: 02/24/2024] Open
Abstract
In this study, we introduce an innovative policy in the field of reinforcement learning, specifically designed as an action selection mechanism, and applied herein as a selector for binarization schemes. These schemes enable continuous metaheuristics to be applied to binary problems, thereby paving new paths in combinatorial optimization. To evaluate its efficacy, we implemented this policy within our BSS framework, which integrates a variety of reinforcement learning and metaheuristic techniques. Upon resolving 45 instances of the Set Covering Problem, our results demonstrate that reinforcement learning can play a crucial role in enhancing the binarization techniques employed. This policy not only significantly outperformed traditional methods in terms of precision and efficiency, but also proved to be extensible and adaptable to other techniques and similar problems. The approach proposed in this article is capable of significantly surpassing traditional methods in precision and efficiency, which could have important implications for a wide range of real-world applications. This study underscores the philosophy behind our approach: utilizing reinforcement learning not as an end in itself, but as a powerful tool for solving binary combinatorial problems, emphasizing its practical applicability and potential to transform the way we address complex challenges across various fields.
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Affiliation(s)
- Marcelo Becerra-Rozas
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso 2362807, Chile
| | - Broderick Crawford
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso 2362807, Chile
| | - Ricardo Soto
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso 2362807, Chile
| | - El-Ghazali Talbi
- CNRS UMR 9189, Centre de Recherche en Informatique Signal et Automatique de Lille (CRIStAL), University of Lille, F-59000 Lille, France
| | - Jose M Gómez-Pulido
- Health Computing and Intelligent Systems Research Group (HCIS), Department of Computer Science, University of Alcalá, 28805 Alcalá de Henares, Spain
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Vega E, Lemus-Romani J, Soto R, Crawford B, Löffler C, Peña J, Talbi EG. Autonomous Parameter Balance in Population-Based Approaches: A Self-Adaptive Learning-Based Strategy. Biomimetics (Basel) 2024; 9:82. [PMID: 38392128 PMCID: PMC10886900 DOI: 10.3390/biomimetics9020082] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/28/2023] [Revised: 01/16/2024] [Accepted: 01/16/2024] [Indexed: 02/24/2024] Open
Abstract
Population-based metaheuristics can be seen as a set of agents that smartly explore the space of solutions of a given optimization problem. These agents are commonly governed by movement operators that decide how the exploration is driven. Although metaheuristics have successfully been used for more than 20 years, performing rapid and high-quality parameter control is still a main concern. For instance, deciding the proper population size yielding a good balance between quality of results and computing time is constantly a hard task, even more so in the presence of an unexplored optimization problem. In this paper, we propose a self-adaptive strategy based on the on-line population balance, which aims for improvements in the performance and search process on population-based algorithms. The design behind the proposed approach relies on three different components. Firstly, an optimization-based component which defines all metaheuristic tasks related to carry out the resolution of the optimization problems. Secondly, a learning-based component focused on transforming dynamic data into knowledge in order to influence the search in the solution space. Thirdly, a probabilistic-based selector component is designed to dynamically adjust the population. We illustrate an extensive experimental process on large instance sets from three well-known discrete optimization problems: Manufacturing Cell Design Problem, Set covering Problem, and Multidimensional Knapsack Problem. The proposed approach is able to compete against classic, autonomous, as well as IRace-tuned metaheuristics, yielding interesting results and potential future work regarding dynamically adjusting the number of solutions interacting on different times within the search process.
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Affiliation(s)
- Emanuel Vega
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso, Valparaíso 2362807, Chile
| | - José Lemus-Romani
- Escuela de Construcción Civil, Pontificia Universidad Católica de Chile, Avenida Vicuña Mackenna 4860, Macul, Santiago 7820436, Chile
| | - Ricardo Soto
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso, Valparaíso 2362807, Chile
| | - Broderick Crawford
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso, Valparaíso 2362807, Chile
| | - Christoffer Löffler
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso, Valparaíso 2362807, Chile
| | - Javier Peña
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso, Valparaíso 2362807, Chile
| | - El-Gazhali Talbi
- CNRS/CRIStAL, University of Lille, 59655 Villeneuve d'Ascq, France
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Barrera-García J, Cisternas-Caneo F, Crawford B, Gómez Sánchez M, Soto R. Feature Selection Problem and Metaheuristics: A Systematic Literature Review about Its Formulation, Evaluation and Applications. Biomimetics (Basel) 2023; 9:9. [PMID: 38248583 PMCID: PMC10813816 DOI: 10.3390/biomimetics9010009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/25/2023] [Revised: 12/16/2023] [Accepted: 12/18/2023] [Indexed: 01/23/2024] Open
Abstract
Feature selection is becoming a relevant problem within the field of machine learning. The feature selection problem focuses on the selection of the small, necessary, and sufficient subset of features that represent the general set of features, eliminating redundant and irrelevant information. Given the importance of the topic, in recent years there has been a boom in the study of the problem, generating a large number of related investigations. Given this, this work analyzes 161 articles published between 2019 and 2023 (20 April 2023), emphasizing the formulation of the problem and performance measures, and proposing classifications for the objective functions and evaluation metrics. Furthermore, an in-depth description and analysis of metaheuristics, benchmark datasets, and practical real-world applications are presented. Finally, in light of recent advances, this review paper provides future research opportunities.
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Affiliation(s)
- José Barrera-García
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso 2362807, Chile; (J.B.-G.); (F.C.-C.); (R.S.)
| | - Felipe Cisternas-Caneo
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso 2362807, Chile; (J.B.-G.); (F.C.-C.); (R.S.)
| | - Broderick Crawford
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso 2362807, Chile; (J.B.-G.); (F.C.-C.); (R.S.)
| | - Mariam Gómez Sánchez
- Departamento de Electrotecnia e Informática, Universidad Técnica Federico Santa María, Federico Santa María 6090, Viña del Mar 2520000, Chile;
| | - Ricardo Soto
- Escuela de Ingeniería Informática, Pontificia Universidad Católica de Valparaíso, Avenida Brasil 2241, Valparaíso 2362807, Chile; (J.B.-G.); (F.C.-C.); (R.S.)
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Vega E, Soto R, Crawford B, Peña J, Contreras P, Castro C. Predicting population size and termination criteria in metaheuristics: A case study based on spotted hyena optimizer and crow search algorithm. Appl Soft Comput 2022. [DOI: 10.1016/j.asoc.2022.109513] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/02/2022]
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Dao SD, Mallégol A, Meyer P, Mohammadi M, Loyer S. Spatial area determination problem: Definition and solution method based on Memetic Algorithm. Appl Soft Comput 2022. [DOI: 10.1016/j.asoc.2022.109243] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
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Bai Q, Su C, Tang W, Li Y. Machine learning to predict end stage kidney disease in chronic kidney disease. Sci Rep 2022; 12:8377. [PMID: 35589908 PMCID: PMC9120106 DOI: 10.1038/s41598-022-12316-z] [Citation(s) in RCA: 21] [Impact Index Per Article: 10.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/19/2021] [Accepted: 05/09/2022] [Indexed: 12/28/2022] Open
Abstract
The purpose of this study was to assess the feasibility of machine learning (ML) in predicting the risk of end-stage kidney disease (ESKD) from patients with chronic kidney disease (CKD). Data were obtained from a longitudinal CKD cohort. Predictor variables included patients' baseline characteristics and routine blood test results. The outcome of interest was the presence or absence of ESKD by the end of 5 years. Missing data were imputed using multiple imputation. Five ML algorithms, including logistic regression, naïve Bayes, random forest, decision tree, and K-nearest neighbors were trained and tested using fivefold cross-validation. The performance of each model was compared to that of the Kidney Failure Risk Equation (KFRE). The dataset contained 748 CKD patients recruited between April 2006 and March 2008, with the follow-up time of 6.3 ± 2.3 years. ESKD was observed in 70 patients (9.4%). Three ML models, including the logistic regression, naïve Bayes and random forest, showed equivalent predictability and greater sensitivity compared to the KFRE. The KFRE had the highest accuracy, specificity, and precision. This study showed the feasibility of ML in evaluating the prognosis of CKD based on easily accessible features. Three ML models with adequate performance and sensitivity scores suggest a potential use for patient screenings. Future studies include external validation and improving the models with additional predictor variables.
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Affiliation(s)
- Qiong Bai
- Department of Nephrology, Peking University Third Hospital, 49 North Garden Rd, Haidian District, Beijing, 100191, People's Republic of China
| | - Chunyan Su
- Department of Nephrology, Peking University Third Hospital, 49 North Garden Rd, Haidian District, Beijing, 100191, People's Republic of China
| | - Wen Tang
- Department of Nephrology, Peking University Third Hospital, 49 North Garden Rd, Haidian District, Beijing, 100191, People's Republic of China.
| | - Yike Li
- Department of Otolaryngology-Head and Neck Surgery, Bill Wilkerson Center, Vanderbilt University Medical Center, Nashville, TN, USA.
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Angarita-Zapata JS, Maestre-Gongora G, Calderín JF. A Bibliometric Analysis and Benchmark of Machine Learning and AutoML in Crash Severity Prediction: The Case Study of Three Colombian Cities. SENSORS 2021; 21:s21248401. [PMID: 34960494 PMCID: PMC8708527 DOI: 10.3390/s21248401] [Citation(s) in RCA: 4] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/07/2021] [Revised: 12/10/2021] [Accepted: 12/14/2021] [Indexed: 11/16/2022]
Abstract
Traffic accidents are of worldwide concern, as they are one of the leading causes of death globally. One policy designed to cope with them is the design and deployment of road safety systems. These aim to predict crashes based on historical records, provided by new Internet of Things (IoT) technologies, to enhance traffic flow management and promote safer roads. Increasing data availability has helped machine learning (ML) to address the prediction of crashes and their severity. The literature reports numerous contributions regarding survey papers, experimental comparisons of various techniques, and the design of new methods at the point where crash severity prediction (CSP) and ML converge. Despite such progress, and as far as we know, there are no comprehensive research articles that theoretically and practically approach the model selection problem (MSP) in CSP. Thus, this paper introduces a bibliometric analysis and experimental benchmark of ML and automated machine learning (AutoML) as a suitable approach to automatically address the MSP in CSP. Firstly, 2318 bibliographic references were consulted to identify relevant authors, trending topics, keywords evolution, and the most common ML methods used in related-case studies, which revealed an opportunity for the use AutoML in the transportation field. Then, we compared AutoML (AutoGluon, Auto-sklearn, TPOT) and ML (CatBoost, Decision Tree, Extra Trees, Gradient Boosting, Gaussian Naive Bayes, Light Gradient Boosting Machine, Random Forest) methods in three case studies using open data portals belonging to the cities of Medellín, Bogotá, and Bucaramanga in Colombia. Our experimentation reveals that AutoGluon and CatBoost are competitive and robust ML approaches to deal with various CSP problems. In addition, we concluded that general-purpose AutoML effectively supports the MSP in CSP without developing domain-focused AutoML methods for this supervised learning problem. Finally, based on the results obtained, we introduce challenges and research opportunities that the community should explore to enhance the contributions that ML and AutoML can bring to CSP and other transportation areas.
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Affiliation(s)
- Juan S. Angarita-Zapata
- DeustoTech, Faculty of Engineering, University of Deusto, 48007 Bilbao, Spain;
- Correspondence:
| | - Gina Maestre-Gongora
- Faculty of Engineering, Universidad Cooperativa de Colombia, Medellín 050012, Colombia;
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A Novel Learning-Based Binarization Scheme Selector for Swarm Algorithms Solving Combinatorial Problems. MATHEMATICS 2021. [DOI: 10.3390/math9222887] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
Currently, industry is undergoing an exponential increase in binary-based combinatorial problems. In this regard, metaheuristics have been a common trend in the field in order to design approaches to successfully solve them. Thus, a well-known strategy includes the employment of continuous swarm-based algorithms transformed to perform in binary environments. In this work, we propose a hybrid approach that contains discrete smartly adapted population-based strategies to efficiently tackle binary-based problems. The proposed approach employs a reinforcement learning technique, known as SARSA (State–Action–Reward–State–Action), in order to utilize knowledge based on the run time. In order to test the viability and competitiveness of our proposal, we compare discrete state-of-the-art algorithms smartly assisted by SARSA. Finally, we illustrate interesting results where the proposed hybrid outperforms other approaches, thus, providing a novel option to tackle these types of problems in industry.
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A Learning-Based Hybrid Framework for Dynamic Balancing of Exploration-Exploitation: Combining Regression Analysis and Metaheuristics. MATHEMATICS 2021. [DOI: 10.3390/math9161976] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/16/2022]
Abstract
The idea of hybrid approaches have become a powerful strategy for tackling several complex optimisation problems. In this regard, the present work is concerned with contributing with a novel optimisation framework, named learning-based linear balancer (LB2). A regression model is designed, with the objective to predict better movements for the approach and improve the performance. The main idea is to balance the intensification and diversification performed by the hybrid model in an online-fashion. In this paper, we employ movement operators of a spotted hyena optimiser, a modern algorithm which has proved to yield good results in the literature. In order to test the performance of our hybrid approach, we solve 15 benchmark functions, composed of unimodal, multimodal, and mutimodal functions with fixed dimension. Additionally, regarding the competitiveness, we carry out a comparison against state-of-the-art algorithms, and the sequential parameter optimisation procedure, which is part of multiple successful tuning methods proposed in the literature. Finally, we compare against the traditional implementation of a spotted hyena optimiser and a neural network approach, the respective statistical analysis is carried out. We illustrate experimental results, where we obtain interesting performance and robustness, which allows us to conclude that our hybrid approach is a competitive alternative in the optimisation field.
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A Self-Adaptive Cuckoo Search Algorithm Using a Machine Learning Technique. MATHEMATICS 2021. [DOI: 10.3390/math9161840] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/02/2023]
Abstract
Metaheuristics are intelligent problem-solvers that have been very efficient in solving huge optimization problems for more than two decades. However, the main drawback of these solvers is the need for problem-dependent and complex parameter setting in order to reach good results. This paper presents a new cuckoo search algorithm able to self-adapt its configuration, particularly its population and the abandon probability. The self-tuning process is governed by using machine learning, where cluster analysis is employed to autonomously and properly compute the number of agents needed at each step of the solving process. The goal is to efficiently explore the space of possible solutions while alleviating human effort in parameter configuration. We illustrate interesting experimental results on the well-known set covering problem, where the proposed approach is able to compete against various state-of-the-art algorithms, achieving better results in one single run versus 20 different configurations. In addition, the result obtained is compared with similar hybrid bio-inspired algorithms illustrating interesting results for this proposal.
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Abstract
One of the central issues that must be resolved for a metaheuristic optimization process to work well is the dilemma of the balance between exploration and exploitation. The metaheuristics (MH) that achieved this balance can be called balanced MH, where a Q-Learning (QL) integration framework was proposed for the selection of metaheuristic operators conducive to this balance, particularly the selection of binarization schemes when a continuous metaheuristic solves binary combinatorial problems. In this work the use of this framework is extended to other recent metaheuristics, demonstrating that the integration of QL in the selection of operators improves the exploration-exploitation balance. Specifically, the Whale Optimization Algorithm and the Sine-Cosine Algorithm are tested by solving the Set Covering Problem, showing statistical improvements in this balance and in the quality of the solutions.
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Schelling X, Fernández J, Ward P, Fernández J, Robertson S. Decision Support System Applications for Scheduling in Professional Team Sport. The Team's Perspective. Front Sports Act Living 2021; 3:678489. [PMID: 34151262 PMCID: PMC8213205 DOI: 10.3389/fspor.2021.678489] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/09/2021] [Accepted: 04/27/2021] [Indexed: 01/17/2023] Open
Abstract
Background: Periodization implies the systematic planning of training and competition with the goal of reaching the best possible performance in the most important competition. In team sports, this consists of finding a flight-and-practice schedule that maximizes the opportunities to perform the periodized contents (e.g., trips, practices, games, and days off). This process is conducted whilst considering known constraints (e.g., competitive schedule, roster availability, weather, especial events, holidays, or emotional effect of days away). The way a scheduling decision support system (DSS) leads users to make a decision should allow for flexibility, whilst minimizing users' confusion and facilitating the understanding of the recommendation given by the scheduling decision support system. Traditional approaches to solving scheduling problems use either simulation models, analytical models, heuristic approaches or a combination of these methods. When it comes to evaluate how the scheduling DSS is performing, three overarching aspects need to be reviewed: context satisfaction, process efficiency, and output quality. Appropriate training periodization and scheduling of trips and training sessions are critical for teams to optimize training and recovery processes in order to maximize health and performance. This article presents a methodological framework for designing decision-support systems for scheduling in professional team sports.
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Affiliation(s)
- Xavier Schelling
- Institute for Health and Sport, Victoria University, Melbourne, VIC, Australia
| | - Jose Fernández
- Faculty of Health Sciences, School of Behavioral and Health Sciences, Australian Catholic University, Fitzroy, VIC, Australia
| | - Patrick Ward
- Human Performance Research Centre, Faculty of Health, University of Technology Sydney (UTS), Sydney, NSW, Australia
| | - Javier Fernández
- Futbol Club Barcelona, Barcelona, Spain.,Department of Computer Science, Universitat Politecnica de Catalunya, Barcelona, Spain
| | - Sam Robertson
- Institute for Health and Sport, Victoria University, Melbourne, VIC, Australia
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13
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A chaotic and hybrid gray wolf-whale algorithm for solving continuous optimization problems. PROGRESS IN ARTIFICIAL INTELLIGENCE 2021. [DOI: 10.1007/s13748-021-00244-4] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022]
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14
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Le HL, Landa-Silva D, Galar M, Garcia S, Triguero I. EUSC: A clustering-based surrogate model to accelerate evolutionary undersampling in imbalanced classification. Appl Soft Comput 2021. [DOI: 10.1016/j.asoc.2020.107033] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/22/2022]
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15
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Clustering-Based Binarization Methods Applied to the Crow Search Algorithm for 0/1 Combinatorial Problems. MATHEMATICS 2020. [DOI: 10.3390/math8071070] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
Abstract
Metaheuristics are smart problem solvers devoted to tackling particularly large optimization problems. During the last 20 years, they have largely been used to solve different problems from the academic as well as from the real-world. However, most of them have originally been designed for operating over real domain variables, being necessary to tailor its internal core, for instance, to be effective in a binary space of solutions. Various works have demonstrated that this internal modification, known as binarization, is not a simple task, since the several existing binarization ways may lead to very different results. This of course forces the user to implement and analyze a large list of binarization schemas for reaching good results. In this paper, we explore two efficient clustering methods, namely KMeans and DBscan to alter a metaheuristic in order to improve it, and thus do not require on the knowledge of an expert user for identifying which binarization strategy works better during the run. Both techniques have widely been applied to solve clustering problems, allowing us to exploit useful information gathered during the search to efficiently control and improve the binarization process. We integrate those techniques to a recent metaheuristic called Crow Search, and we conduct experiments where KMeans and DBscan are contrasted to 32 different binarization methods. The results show that the proposed approaches outperform most of the binarization strategies for a large list of well-known optimization instances.
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16
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Kumeno F. Sofware engneering challenges for machine learning applications: A literature review. INTELLIGENT DECISION TECHNOLOGIES 2020. [DOI: 10.3233/idt-190160] [Citation(s) in RCA: 24] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/15/2022]
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17
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A Method for Road Extraction from High-Resolution Remote Sensing Images Based on Multi-Kernel Learning. INFORMATION 2019. [DOI: 10.3390/info10120385] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
Extracting road from high resolution remote sensing (HRRS) images is an economic and effective way to acquire road information, which has become an important research topic and has a wide range of applications. In this paper, we present a novel method for road extraction from HRRS images. Multi-kernel learning is first utilized to integrate the spectral, texture, and linear features of images to classify the images into road and non-road groups. A precise extraction method for road elements is then designed by building road shaped indexes to automatically filter out the interference of non-road noises. A series of morphological operations are also carried out to smooth and repair the structure and shape of the road element. Finally, based on the prior knowledge and topological features of the road, a set of penalty factors and a penalty function are constructed to connect road elements to form a complete road network. Experiments are carried out with different sensors, different resolutions, and different scenes to verify the theoretical analysis. Quantitative results prove that the proposed method can optimize the weights of different features, eliminate non-road noises, effectively group road elements, and greatly improve the accuracy of road recognition.
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