Immune evolutionary algorithms with domain knowledge for simultaneous localization and mapping

Immune evolutionary algorithms with domain knowledge were presented to solve the problem of simultaneous localization and mapping for a mobile robot in unknown environments. Two operators with domain knowledge were designed in algorithms, where the feature of parallel line segments without the problem of data association was used to construct a vaccination operator, and the characters of convex vertices in polygonal obstacle were extended to develop a pulling operator of key point grid. The experimental results of a real mobile robot show that the computational expensiveness of algorithms designed is less than other evolutionary algorithms for simultaneous localization and mapping and the maps obtained are very accurate. Because immune evolutionary algorithms with domain knowledge have some advantages, the convergence rate of designed algorithms is about 44% higher than those of other algorithms.

A bi-population immune algorithm for weapon transportation support scheduling problem with pickup and delivery on aircraft carrier deck

The weapon transportation support scheduling problem on aircraft carrier deck is the key to restricting the sortie rate and combat capability of carrier-based aircraft.This paper studies the problem and presents a novel solution architecture.Taking the interference of the carrier-based aircraft deck layout on the weapon transportation route and precedence constraint into consideration,a mixed integer formulation is established to minimize the total objective,which is constituted of makespan,load variance and accumulative transfer time of support unit.Solution approach is developed for the model.Firstly,based on modeling the carrier aircraft parked on deck as convex obstacles,the path library of weapon transportation is constructed through visibility graph and Warshall-Floyd methods.We then propose a bi-population immune algorithm in which a population-based forward/backward scheduling technique,local search schemes and a chaotic catastrophe operator are embedded.Besides,the randomkey solution representation and serial scheduling generation scheme are adopted to conveniently obtain a better solution.The Taguchi method is additionally employed to determine key parameters of the algorithm.Finally,on a set of generated realistic instances,we demonstrate that the proposed algorithm outperforms all compared algorithms designed for similar optimization problems and can significantly improve the efficiency,and that the established model and the bi-population immune algorithm can effectively respond to the weapon support requirements of carrier-based aircraft under different sortie missions.

Lake Eutrophic Evaluation Based on Bee Immune Evolutionary Algorithm

In order to establish the lake eutrophic evaluation model for multiple indices,based on the gauge transformation,an index formula in the form of a logarithmic power function was proposed to design an eutrophic evaluation model for the ＂ normalized values＂ of multi-indexes.The parameters in the formula were also optimized by bee immune evolutionary algorithm（BEIEA）.The universal index formula was suitable to multiindices items for eutrophic evaluation.At the same time,the formula was applied to practical eutrophic evaluations in 10 regions of Dong Lake.The evaluation results were coincident with those obtained from the power function of weighted sums and also with actual conditions.It was shown that the bee immune evolutionary algorithm was suitable to the parameter optimization in the eutrophic evaluation model.

OPTIMIZATION OF AIRPORT TAXIING PLANNING DURING CONGESTED HOURS BASED ON IMMUNE CLONAL SELECTION ALGORITHM

In order to ease congestion and ground delays in major hub airports, an aircraft taxiing scheduling optimization model is proposed with schedule time as the object function. In the new model, the idea of a classical job shop-schedule problem is adopted and three types of special aircraft-taxi conflicts are considered in the constraints. To solve such nondeterministic polynomial time-complex problems, the immune clonal selection algorithm（ICSA） is introduced. The simulation results in a congested hour of Beijing Capital International Airport show that, compared with the first-come-first-served（FCFS） strategy, the optimization-planning strategy reduces the total scheduling time by 13.6 min and the taxiing time per aircraft by 45.3 s, which improves the capacity of the runway and the efficiency of airport operations.

Throughput scheduling in cognitive radio networks based on immune optimization

To study the throughput scheduling problem under interference temperature in cognitive radio networks, an immune algorithm-based suboptimal method was proposed based on its NP-hard feature. The problem is modeled as a constrained optimization problem to maximize the total throughput of the secondary users（ SUs）. The mapping between the throughput scheduling problems and the immune algorithm is given. Suitable immune operators are designed such as binary antibody encoding, antibody initialization based on pre-knowledge, a proportional clone to its affinity and an adaptive mutation operator associated with the evolutionary generation. The simulation results showthat the proposed algorithm can obtain about 95% of the optimal throughput and operate with much lower liner computational complexity.

Immune response-based algorithm for optimization of dynamic environments

A novel immune algorithm suitable for dynamic environments (AIDE) was proposed based on a biological immune response principle.The dynamic process of artificial immune response with operators such as immune cloning,multi-scale variation and gradient-based diversity was modeled.Because the immune cloning operator was derived from a stimulation and suppression effect between antibodies and antigens,a sigmoid model that can clearly describe clonal proliferation was proposed.In addition,with the introduction of multiple populations and multi-scale variation,the algorithm can well maintain the population diversity during the dynamic searching process.Unlike traditional artificial immune algorithms,which require randomly generated cells added to the current population to explore its fitness landscape,AIDE uses a gradient-based diversity operator to speed up the optimization in the dynamic environments.Several reported algorithms were compared with AIDE by using Moving Peaks Benchmarks.Preliminary experiments show that AIDE can maintain high population diversity during the search process,simultaneously can speed up the optimization.Thus,AIDE is useful for the optimization of dynamic environments.

Fuzzy least squares support vector machine soft measurement model based on adaptive mutative scale chaos immune algorithm

In order to enhance measuring precision of the real complex electromechanical system,complex industrial system and complex ecological & management system with characteristics of multi-variable,non-liner,strong coupling and large time-delay,in terms of the fuzzy character of this real complex system,a fuzzy least squares support vector machine(FLS-SVM) soft measurement model was established and its parameters were optimized by using adaptive mutative scale chaos immune algorithm.The simulation results reveal that fuzzy least squares support vector machines soft measurement model is of better approximation accuracy and robustness.And application results show that the relative errors of the soft measurement model are less than 3.34%.

Immune algorithm for discretization of decision systems in rough set theory

Rough set theory plays an important role in knowledge discovery, but cannot deal with continuous attributes, thus discretization is a problem which we cannot neglect. And discretization of decision systems in rough set theory has some particular characteristics. Consistency must be satisfied and cuts for discretization is expected to be as small as possible. Consistent and minimal discretization problem is NP-complete. In this paper, an immune algorithm for the problem is proposed. The correctness and effectiveness were shown in experiments. The discretization method presented in this paper can also be used as a data pre- treating step for other symbolic knowledge discovery or machine learning methods other than rough set theory.

Learning Bayesian network structure with immune algorithm

Finding out reasonable structures from bulky data is one of the difficulties in modeling of Bayesian network （BN）, which is also necessary in promoting the application of BN. This pa- per proposes an immune algorithm based method （BN-IA） for the learning of the BN structure with the idea of vaccination. Further- more, the methods on how to extract the effective vaccines from local optimal structure and root nodes are also described in details. Finally, the simulation studies are implemented with the helicopter convertor BN model and the car start BN model. The comparison results show that the proposed vaccines and the BN-IA can learn the BN structure effectively and efficiently.

An Improved Artificial Immune Algorithm with a Dynamic Threshold

An improved artificial immune algorithm with a dynamic threshold is presented. The calculation for the affinity function in the real-valued coding artificial immune algorithm is modified through considering the antibody＇s fitness and setting the dynamic threshold value. Numerical experiments show that compared with the genetic algorithm and the originally real-valued coding artificial immune algorithm, the improved algorithm possesses high speed of convergence and good performance for preventing premature convergence.

Application of Immune Algorithm to Evaluation of Soil Resource Quality

Based on the geographic information system (GIS) technology, ArcInfo software was adopted to collect, process andanalyze spatial data of Guangdong Province for an evaluation of soil resource quality. The overlay analysis method wasused in combining evaluation factors of Guangdong soil resource quality to determine the evaluation units. Because ofits favorable convergent speed and its ability to search solutions, the immune algorithm was applied to the soil resourcequality evaluation model. At the same time, the evaluation results of this newly proposed method were compared to twoother methods: sum of index and fuzzy synthetic. The results indicated that the immune algorithm reflected the actualcondition of soil resource quality more exactly.

Immune Algorithm for Selecting Optimum Services in Web Services Composition

For the problem of dynamic optimization in Web services composition, this paper presents a novel approach for selecting optimum Web services, which is based on the longest path method of weighted multistage graph. We propose and implement an Immune Algorithm for global optimization to construct composed Web services. Results of the experimentation illustrates that the algorithm in this paper has a powerful capability and can greatly improve the efficiency and veracity in service selection.

Distance Concentration-Based Artificial Immune Algorithm

The diversity, adaptation and memory of biological immune system attract much attention of researchers. Several optimal algorithms based on immune system have also been proposed up to now. The distance concentra- tion-based artificial immune algorithm (DCAIA) is proposed to overcome defects of the classical artificial immune al- gorithm (CAIA) in this paper. Compared with genetic algorithm (GA) and CAIA, DCAIA is good for solving the prob- lem of precocity,holding the diversity of antibody, and enhancing convergence rate.

A New Cultivation-Evolution Technology of Accident Immune Function for a Petrochemical Enterprise

For the purpose of developing an immune function on production accidents in a petrochemical enterprise, a new cultivation-evolution approach of preventive mechanism is suggested by analyzing various factors relating to immune deficiency syndrome and by referring to immunity genetic algorithm and relevant concepts applied in medicine science. Accident-immunity system for highly hazardous petrochemical enterprise, which is made up of its productive system＇s Safety Organ and Safety Organization, is typically an evolution-cultivation progress for immune function, The new B immune cell is generated after several layers＇ screening, clone expanding, receptor editing, organizing in immune system of work accident in petrochemical enterprise. There is a B immune cell with high appetency and a manipulative function chain for accident-immunity. Taking the antigen of accidents in industry as the target function and the immune antibody as the solution, the authors carried out a computation diagram for prediction of appetency between the antigen and antibody.

Elitism-based immune genetic algorithm and its application to optimization of complex multi-modal functions

A novel immune genetic algorithm with the elitist selection and elitist crossover was proposed, which is called the immune genetic algorithm with the elitism （IGAE）. In IGAE, the new methods for computing antibody similarity, expected reproduction probability, and clonal selection probability were given. IGAE has three features. The first is that the similarities of two antibodies in structure and quality are all defined in the form of percentage, which helps to describe the similarity of two antibodies more accurately and to reduce the computational burden effectively. The second is that with the elitist selection and elitist crossover strategy IGAE is able to find the globally optimal solution of a given problem. The third is that the formula of expected reproduction probability of antibody can be adjusted through a parameter r, which helps to balance the population diversity and the convergence speed of IGAE so that IGAE can find the globally optimal solution of a given problem more rapidly. Two different complex multi-modal functions were selected to test the validity of IGAE. The experimental results show that IGAE can find the globally maximum/minimum values of the two functions rapidly. The experimental results also confirm that IGAE is of better performance in convergence speed, solution variation behavior, and computational efficiency compared with the canonical genetic algorithm with the elitism and the immune genetic algorithm with the information entropy and elitism.

Improved algorithms to plan missions for agile earth observation satellites

This study concentrates of the new generation of the agile （AEOS）. AEOS is a key study object on management problems earth observation satellite in many countries because of its many advantages over non-agile satellites. Hence, the mission planning and scheduling of AEOS is a popular research problem. This research investigates AEOS characteristics and establishes a mission planning model based on the working principle and constraints of AEOS as per analysis. To solve the scheduling issue of AEOS, several improved algorithms are developed. Simulation results suggest that these algorithms are effective.

Optimizing neural network forecast by immune algorithm

Considering multi-factor influence, a forecasting model was built. The structure of BP neural network was designed, and immune algorithm was applied to optimize its network structure and weight. After training the data of power demand from the year 1980 to 2005 in China, a nonlinear network model was obtained on the relationship between power demand and the factors which had impacts on it, and thus the above proposed method was verified. Meanwhile, the results were compared to those of neural network optimized by genetic algorithm. The results show that this method is superior to neural network optimized by genetic algorithm and is one of the effective ways of time series forecast.

A Self-Organizing RBF Neural Network Based on Distance Concentration Immune Algorithm

Radial basis function neural network(RBFNN) is an effective algorithm in nonlinear system identification. How to properly adjust the structure and parameters of RBFNN is quite challenging. To solve this problem, a distance concentration immune algorithm(DCIA) is proposed to self-organize the structure and parameters of the RBFNN in this paper. First, the distance concentration algorithm, which increases the diversity of antibodies, is used to find the global optimal solution. Secondly,the information processing strength(IPS) algorithm is used to avoid the instability that is caused by the hidden layer with neurons split or deleted randomly. However, to improve the forecasting accuracy and reduce the computation time, a sample with the most frequent occurrence of maximum error is proposed to regulate the parameters of the new neuron. In addition, the convergence proof of a self-organizing RBF neural network based on distance concentration immune algorithm(DCIA-SORBFNN) is applied to guarantee the feasibility of algorithm. Finally, several nonlinear functions are used to validate the effectiveness of the algorithm. Experimental results show that the proposed DCIASORBFNN has achieved better nonlinear approximation ability than that of the art relevant competitors.

Self-adaptive learning based immune algorithm

A self-adaptive learning based immune algorithm （SALIA） is proposed to tackle diverse optimization problems, such as complex multi-modal and ill-conditioned prc,blems with the high robustness. The SALIA algorithm adopted a mutation strategy pool which consists of four effective mutation strategies to generate new antibodies. A self-adaptive learning framework is implemented to select the mutation strategies by learning from their previous performances in generating promising solutions. Twenty-six state-of-the-art optimization problems with different characteristics, such as uni-modality, multi-modality, rotation, ill-condition, mis-scale and noise, are used to verify the validity of SALIA. Experimental results show that the novel algorithm SALIA achieves a higher universality and robustness than clonal selection algorithms （CLONALG）, and the mean error index of each test function in SALIA decreases by a factor of at least 1.0×10^7 in average.

Adaptive template filter method for image processing based on immune genetic algorithm

To preserve the original signal as much as possible and filter random noises as many as possible in image processing,a threshold optimization-based adaptive template filtering algorithm was proposed.Unlike conventional filters whose template shapes and coefficients were fixed,multi-templates were defined and the right template for each pixel could be matched adaptively based on local image characteristics in the proposed method.The superiority of this method was verified by former results concerning the matching experiment of actual image with the comparison of conventional filtering methods.The adaptive search ability of immune genetic algorithm with the elitist selection and elitist crossover(IGAE) was used to optimize threshold t of the transformation function,and then combined with wavelet transformation to estimate noise variance.Multi-experiments were performed to test the validity of IGAE.The results show that the filtered result of t obtained by IGAE is superior to that of t obtained by other methods,IGAE has a faster convergence speed and a higher computational efficiency compared with the canonical genetic algorithm with the elitism and the immune algorithm with the information entropy and elitism by multi-experiments.