Computational Intelligence and Neuroscience http://www.hindawi.com The latest articles from Hindawi Publishing Corporation © 2016 , Hindawi Publishing Corporation . All rights reserved. An Efficient Adaptive Window Size Selection Method for Improving Spectrogram Visualization Wed, 24 Aug 2016 17:56:34 +0000 http://www.hindawi.com/journals/cin/2016/6172453/ Short Time Fourier Transform (STFT) is an important technique for the time-frequency analysis of a time varying signal. The basic approach behind it involves the application of a Fast Fourier Transform (FFT) to a signal multiplied with an appropriate window function with fixed resolution. The selection of an appropriate window size is difficult when no background information about the input signal is known. In this paper, a novel empirical model is proposed that adaptively adjusts the window size for a narrow band-signal using spectrum sensing technique. For wide-band signals, where a fixed time-frequency resolution is undesirable, the approach adapts the constant Q transform (CQT). Unlike the STFT, the CQT provides a varying time-frequency resolution. This results in a high spectral resolution at low frequencies and high temporal resolution at high frequencies. In this paper, a simple but effective switching framework is provided between both STFT and CQT. The proposed method also allows for the dynamic construction of a filter bank according to user-defined parameters. This helps in reducing redundant entries in the filter bank. Results obtained from the proposed method not only improve the spectrogram visualization but also reduce the computation cost and achieves 87.71% of the appropriate window length selection. Shibli Nisar, Omar Usman Khan, and Muhammad Tariq Copyright © 2016 Shibli Nisar et al. All rights reserved. Applying Cost-Sensitive Extreme Learning Machine and Dissimilarity Integration to Gene Expression Data Classification Tue, 23 Aug 2016 14:03:29 +0000 http://www.hindawi.com/journals/cin/2016/8056253/ Embedding cost-sensitive factors into the classifiers increases the classification stability and reduces the classification costs for classifying high-scale, redundant, and imbalanced datasets, such as the gene expression data. In this study, we extend our previous work, that is, Dissimilar ELM (D-ELM), by introducing misclassification costs into the classifier. We name the proposed algorithm as the cost-sensitive D-ELM (CS-D-ELM). Furthermore, we embed rejection cost into the CS-D-ELM to increase the classification stability of the proposed algorithm. Experimental results show that the rejection cost embedded CS-D-ELM algorithm effectively reduces the average and overall cost of the classification process, while the classification accuracy still remains competitive. The proposed method can be extended to classification problems of other redundant and imbalanced data. Yanqiu Liu, Huijuan Lu, Ke Yan, Haixia Xia, and Chunlin An Copyright © 2016 Yanqiu Liu et al. All rights reserved. Online Hierarchical Sparse Representation of Multifeature for Robust Object Tracking Thu, 18 Aug 2016 13:55:11 +0000 http://www.hindawi.com/journals/cin/2016/5894639/ Object tracking based on sparse representation has given promising tracking results in recent years. However, the trackers under the framework of sparse representation always overemphasize the sparse representation and ignore the correlation of visual information. In addition, the sparse coding methods only encode the local region independently and ignore the spatial neighborhood information of the image. In this paper, we propose a robust tracking algorithm. Firstly, multiple complementary features are used to describe the object appearance; the appearance model of the tracked target is modeled by instantaneous and stable appearance features simultaneously. A two-stage sparse-coded method which takes the spatial neighborhood information of the image patch and the computation burden into consideration is used to compute the reconstructed object appearance. Then, the reliability of each tracker is measured by the tracking likelihood function of transient and reconstructed appearance models. Finally, the most reliable tracker is obtained by a well established particle filter framework; the training set and the template library are incrementally updated based on the current tracking results. Experiment results on different challenging video sequences show that the proposed algorithm performs well with superior tracking accuracy and robustness. Honghong Yang and Shiru Qu Copyright © 2016 Honghong Yang and Shiru Qu. All rights reserved. Consumers’ Kansei Needs Clustering Method for Product Emotional Design Based on Numerical Design Structure Matrix and Genetic Algorithms Thu, 18 Aug 2016 08:12:04 +0000 http://www.hindawi.com/journals/cin/2016/5083213/ Consumers’ Kansei needs reflect their perception about a product and always consist of a large number of adjectives. Reducing the dimension complexity of these needs to extract primary words not only enables the target product to be explicitly positioned, but also provides a convenient design basis for designers engaging in design work. Accordingly, this study employs a numerical design structure matrix (NDSM) by parameterizing a conventional DSM and integrating genetic algorithms to find optimum Kansei clusters. A four-point scale method is applied to assign link weights of every two Kansei adjectives as values of cells when constructing an NDSM. Genetic algorithms are used to cluster the Kansei NDSM and find optimum clusters. Furthermore, the process of the proposed method is presented. The details of the proposed approach are illustrated using an example of electronic scooter for Kansei needs clustering. The case study reveals that the proposed method is promising for clustering Kansei needs adjectives in product emotional design. Yan-pu Yang, Deng-kai Chen, Rong Gu, Yu-feng Gu, and Sui-huai Yu Copyright © 2016 Yan-pu Yang et al. All rights reserved. A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm (Denso VP6242) Wed, 17 Aug 2016 16:49:18 +0000 http://www.hindawi.com/journals/cin/2016/5720163/ This paper presents a novel inverse kinematics solution for robotic arm based on artificial neural network (ANN) architecture. The motion of robotic arm is controlled by the kinematics of ANN. A new artificial neural network approach for inverse kinematics is proposed. The novelty of the proposed ANN is the inclusion of the feedback of current joint angles configuration of robotic arm as well as the desired position and orientation in the input pattern of neural network, while the traditional ANN has only the desired position and orientation of the end effector in the input pattern of neural network. In this paper, a six DOF Denso robotic arm with a gripper is controlled by ANN. The comprehensive experimental results proved the applicability and the efficiency of the proposed approach in robotic motion control. The inclusion of current configuration of joint angles in ANN significantly increased the accuracy of ANN estimation of the joint angles output. The new controller design has advantages over the existing techniques for minimizing the position error in unconventional tasks and increasing the accuracy of ANN in estimation of robot’s joint angles. Ahmed R. J. Almusawi, L. Canan Dülger, and Sadettin Kapucu Copyright © 2016 Ahmed R. J. Almusawi et al. All rights reserved. EEG-Based BCI System Using Adaptive Features Extraction and Classification Procedures Wed, 17 Aug 2016 13:49:06 +0000 http://www.hindawi.com/journals/cin/2016/4562601/ Motor imagery is a common control strategy in EEG-based brain-computer interfaces (BCIs). However, voluntary control of sensorimotor (SMR) rhythms by imagining a movement can be skilful and unintuitive and usually requires a varying amount of user training. To boost the training process, a whole class of BCI systems have been proposed, providing feedback as early as possible while continuously adapting the underlying classifier model. The present work describes a cue-paced, EEG-based BCI system using motor imagery that falls within the category of the previously mentioned ones. Specifically, our adaptive strategy includes a simple scheme based on a common spatial pattern (CSP) method and support vector machine (SVM) classification. The system’s efficacy was proved by online testing on 10 healthy participants. In addition, we suggest some features we implemented to improve a system’s “flexibility” and “customizability,” namely, (i) a flexible training session, (ii) an unbalancing in the training conditions, and (iii) the use of adaptive thresholds when giving feedback. Valeria Mondini, Anna Lisa Mangia, and Angelo Cappello Copyright © 2016 Valeria Mondini et al. All rights reserved. Deep Convolutional Extreme Learning Machine and Its Application in Handwritten Digit Classification Wed, 17 Aug 2016 09:46:58 +0000 http://www.hindawi.com/journals/cin/2016/3049632/ In recent years, some deep learning methods have been developed and applied to image classification applications, such as convolutional neuron network (CNN) and deep belief network (DBN). However they are suffering from some problems like local minima, slow convergence rate, and intensive human intervention. In this paper, we propose a rapid learning method, namely, deep convolutional extreme learning machine (DC-ELM), which combines the power of CNN and fast training of ELM. It uses multiple alternate convolution layers and pooling layers to effectively abstract high level features from input images. Then the abstracted features are fed to an ELM classifier, which leads to better generalization performance with faster learning speed. DC-ELM also introduces stochastic pooling in the last hidden layer to reduce dimensionality of features greatly, thus saving much training time and computation resources. We systematically evaluated the performance of DC-ELM on two handwritten digit data sets: MNIST and USPS. Experimental results show that our method achieved better testing accuracy with significantly shorter training time in comparison with deep learning methods and other ELM methods. Shan Pang and Xinyi Yang Copyright © 2016 Shan Pang and Xinyi Yang. All rights reserved. Theory and Applications of Bioinspired Neural Intelligence for Robotics and Control Sun, 14 Aug 2016 11:40:10 +0000 http://www.hindawi.com/journals/cin/2016/5089767/ Simon X. Yang, Chaomin Luo, Howard Li, Jianjun Ni, and Jianwei Zhang Copyright © 2016 Simon X. Yang et al. All rights reserved. A Long-Term Prediction Model of Beijing Haze Episodes Using Time Series Analysis Sun, 14 Aug 2016 11:29:25 +0000 http://www.hindawi.com/journals/cin/2016/6459873/ The rapid industrial development has led to the intermittent outbreak of pm2.5 or haze in developing countries, which has brought about great environmental issues, especially in big cities such as Beijing and New Delhi. We investigated the factors and mechanisms of haze change and present a long-term prediction model of Beijing haze episodes using time series analysis. We construct a dynamic structural measurement model of daily haze increment and reduce the model to a vector autoregressive model. Typical case studies on 886 continuous days indicate that our model performs very well on next day’s Air Quality Index (AQI) prediction, and in severely polluted cases (AQI ≥ 300) the accuracy rate of AQI prediction even reaches up to 87.8%. The experiment of one-week prediction shows that our model has excellent sensitivity when a sudden haze burst or dissipation happens, which results in good long-term stability on the accuracy of the next 3–7 days’ AQI prediction. Xiaoping Yang, Zhongxia Zhang, Zhongqiu Zhang, Liren Sun, Cui Xu, and Li Yu Copyright © 2016 Xiaoping Yang et al. All rights reserved. A Model of Generating Visual Place Cells Based on Environment Perception and Similar Measure Sun, 14 Aug 2016 08:36:55 +0000 http://www.hindawi.com/journals/cin/2016/3253678/ It is an important content to generate visual place cells (VPCs) in the field of bioinspired navigation. By analyzing the firing characteristic of biological place cells and the existing methods for generating VPCs, a model of generating visual place cells based on environment perception and similar measure is abstracted in this paper. VPCs’ generation process is divided into three phases, including environment perception, similar measure, and recruiting of a new place cell. According to this process, a specific method for generating VPCs is presented. External reference landmarks are obtained based on local invariant characteristics of image and a similar measure function is designed based on Euclidean distance and Gaussian function. Simulation validates the proposed method is available. The firing characteristic of the generated VPCs is similar to that of biological place cells, and VPCs’ firing fields can be adjusted flexibly by changing the adjustment factor of firing field (AFFF) and firing rate’s threshold (FRT). Yang Zhou and Dewei Wu Copyright © 2016 Yang Zhou and Dewei Wu. All rights reserved. A Novel Fixed Low-Rank Constrained EEG Spatial Filter Estimation with Application to Movie-Induced Emotion Recognition Thu, 11 Aug 2016 13:40:52 +0000 http://www.hindawi.com/journals/cin/2016/6734720/ This paper proposes a novel fixed low-rank spatial filter estimation for brain computer interface (BCI) systems with an application that recognizes emotions elicited by movies. The proposed approach unifies such tasks as feature extraction, feature selection, and classification, which are often independently tackled in a “bottom-up” manner, under a regularized loss minimization problem. The loss function is explicitly derived from the conventional BCI approach and solves its minimization by optimization with a nonconvex fixed low-rank constraint. For evaluation, an experiment was conducted to induce emotions by movies for dozens of young adult subjects and estimated the emotional states using the proposed method. The advantage of the proposed method is that it combines feature selection, feature extraction, and classification into a monolithic optimization problem with a fixed low-rank regularization, which implicitly estimates optimal spatial filters. The proposed method shows competitive performance against the best CSP-based alternatives. Ken Yano and Takayuki Suyama Copyright © 2016 Ken Yano and Takayuki Suyama. All rights reserved. Adaptive Online Sequential ELM for Concept Drift Tackling Tue, 09 Aug 2016 06:58:04 +0000 http://www.hindawi.com/journals/cin/2016/8091267/ A machine learning method needs to adapt to over time changes in the environment. Such changes are known as concept drift. In this paper, we propose concept drift tackling method as an enhancement of Online Sequential Extreme Learning Machine (OS-ELM) and Constructive Enhancement OS-ELM (CEOS-ELM) by adding adaptive capability for classification and regression problem. The scheme is named as adaptive OS-ELM (AOS-ELM). It is a single classifier scheme that works well to handle real drift, virtual drift, and hybrid drift. The AOS-ELM also works well for sudden drift and recurrent context change type. The scheme is a simple unified method implemented in simple lines of code. We evaluated AOS-ELM on regression and classification problem by using concept drift public data set (SEA and STAGGER) and other public data sets such as MNIST, USPS, and IDS. Experiments show that our method gives higher kappa value compared to the multiclassifier ELM ensemble. Even though AOS-ELM in practice does not need hidden nodes increase, we address some issues related to the increasing of the hidden nodes such as error condition and rank values. We propose taking the rank of the pseudoinverse matrix as an indicator parameter to detect “underfitting” condition. Arif Budiman, Mohamad Ivan Fanany, and Chan Basaruddin Copyright © 2016 Arif Budiman et al. All rights reserved. A Feature Selection Approach Based on Interclass and Intraclass Relative Contributions of Terms Mon, 08 Aug 2016 14:03:57 +0000 http://www.hindawi.com/journals/cin/2016/1715780/ Feature selection plays a critical role in text categorization. During feature selecting, high-frequency terms and the interclass and intraclass relative contributions of terms all have significant effects on classification results. So we put forward a feature selection approach, IIRCT, based on interclass and intraclass relative contributions of terms in the paper. In our proposed algorithm, three critical factors, which are term frequency and the interclass relative contribution and the intraclass relative contribution of terms, are all considered synthetically. Finally, experiments are made with the help of kNN classifier. And the corresponding results on 20 NewsGroup and SougouCS corpora show that IIRCT algorithm achieves better performance than DF, -Test, and CMFS algorithms. Hongfang Zhou, Jie Guo, Yinghui Wang, and Minghua Zhao Copyright © 2016 Hongfang Zhou et al. All rights reserved. Time-Shift Correlation Algorithm for P300 Event Related Potential Brain-Computer Interface Implementation Mon, 08 Aug 2016 13:39:27 +0000 http://www.hindawi.com/journals/cin/2016/3039454/ A high efficient time-shift correlation algorithm was proposed to deal with the peak time uncertainty of P300 evoked potential for a P300-based brain-computer interface (BCI). The time-shift correlation series data were collected as the input nodes of an artificial neural network (ANN), and the classification of four LED visual stimuli was selected as the output node. Two operating modes, including fast-recognition mode (FM) and accuracy-recognition mode (AM), were realized. The proposed BCI system was implemented on an embedded system for commanding an adult-size humanoid robot to evaluate the performance from investigating the ground truth trajectories of the humanoid robot. When the humanoid robot walked in a spacious area, the FM was used to control the robot with a higher information transfer rate (ITR). When the robot walked in a crowded area, the AM was used for high accuracy of recognition to reduce the risk of collision. The experimental results showed that, in 100 trials, the accuracy rate of FM was 87.8% and the average ITR was 52.73 bits/min. In addition, the accuracy rate was improved to 92% for the AM, and the average ITR decreased to 31.27 bits/min. due to strict recognition constraints. Ju-Chi Liu, Hung-Chyun Chou, Chien-Hsiu Chen, Yi-Tseng Lin, and Chung-Hsien Kuo Copyright © 2016 Ju-Chi Liu et al. All rights reserved. Using SVD on Clusters to Improve Precision of Interdocument Similarity Measure Sun, 07 Aug 2016 11:58:00 +0000 http://www.hindawi.com/journals/cin/2016/1096271/ Recently, LSI (Latent Semantic Indexing) based on SVD (Singular Value Decomposition) is proposed to overcome the problems of polysemy and homonym in traditional lexical matching. However, it is usually criticized as with low discriminative power for representing documents although it has been validated as with good representative quality. In this paper, SVD on clusters is proposed to improve the discriminative power of LSI. The contribution of this paper is three manifolds. Firstly, we make a survey of existing linear algebra methods for LSI, including both SVD based methods and non-SVD based methods. Secondly, we propose SVD on clusters for LSI and theoretically explain that dimension expansion of document vectors and dimension projection using SVD are the two manipulations involved in SVD on clusters. Moreover, we develop updating processes to fold in new documents and terms in a decomposed matrix by SVD on clusters. Thirdly, two corpora, a Chinese corpus and an English corpus, are used to evaluate the performances of the proposed methods. Experiments demonstrate that, to some extent, SVD on clusters can improve the precision of interdocument similarity measure in comparison with other SVD based LSI methods. Wen Zhang, Fan Xiao, Bin Li, and Siguang Zhang Copyright © 2016 Wen Zhang et al. All rights reserved. Optimization for Service Routes of Pallet Service Center Based on the Pallet Pool Mode Tue, 26 Jul 2016 11:15:17 +0000 http://www.hindawi.com/journals/cin/2016/5691735/ Service routes optimization (SRO) of pallet service center should meet customers’ demand firstly and then, through the reasonable method of lines organization, realize the shortest path of vehicle driving. The routes optimization of pallet service center is similar to the distribution problems of vehicle routing problem (VRP) and Chinese postman problem (CPP), but it has its own characteristics. Based on the relevant research results, the conditions of determining the number of vehicles, the one way of the route, the constraints of loading, and time windows are fully considered, and a chance constrained programming model with stochastic constraints is constructed taking the shortest path of all vehicles for a delivering (recycling) operation as an objective. For the characteristics of the model, a hybrid intelligent algorithm including stochastic simulation, neural network, and immune clonal algorithm is designed to solve the model. Finally, the validity and rationality of the optimization model and algorithm are verified by the case. Kang Zhou, Shiwei He, and Rui Song Copyright © 2016 Kang Zhou et al. All rights reserved. Driving a Semiautonomous Mobile Robotic Car Controlled by an SSVEP-Based BCI Tue, 26 Jul 2016 10:00:12 +0000 http://www.hindawi.com/journals/cin/2016/4909685/ Brain-computer interfaces represent a range of acknowledged technologies that translate brain activity into computer commands. The aim of our research is to develop and evaluate a BCI control application for certain assistive technologies that can be used for remote telepresence or remote driving. The communication channel to the target device is based on the steady-state visual evoked potentials. In order to test the control application, a mobile robotic car (MRC) was introduced and a four-class BCI graphical user interface (with live video feedback and stimulation boxes on the same screen) for piloting the MRC was designed. For the purpose of evaluating a potential real-life scenario for such assistive technology, we present a study where 61 subjects steered the MRC through a predetermined route. All 61 subjects were able to control the MRC and finish the experiment (mean time 207.08 s, SD 50.25) with a mean (SD) accuracy and ITR of 93.03% (5.73) and 14.07 bits/min (4.44), respectively. The results show that our proposed SSVEP-based BCI control application is suitable for mobile robots with a shared-control approach. We also did not observe any negative influence of the simultaneous live video feedback and SSVEP stimulation on the performance of the BCI system. Piotr Stawicki, Felix Gembler, and Ivan Volosyak Copyright © 2016 Piotr Stawicki et al. All rights reserved. Robot and Neuroscience Technology: Computational and Engineering Approaches in Medicine Mon, 25 Jul 2016 11:59:53 +0000 http://www.hindawi.com/journals/cin/2016/5204510/ Hiroki Tamura, Shangce Gao, Qixin Cao, Chuntao Leng, Hui Yu, and Harold Szu Copyright © 2016 Hiroki Tamura et al. All rights reserved. Improved Correction of Atmospheric Pressure Data Obtained by Smartphones through Machine Learning Mon, 25 Jul 2016 08:53:13 +0000 http://www.hindawi.com/journals/cin/2016/9467878/ A correction method using machine learning aims to improve the conventional linear regression (LR) based method for correction of atmospheric pressure data obtained by smartphones. The method proposed in this study conducts clustering and regression analysis with time domain classification. Data obtained in Gyeonggi-do, one of the most populous provinces in South Korea surrounding Seoul with the size of 10,000 km2, from July 2014 through December 2014, using smartphones were classified with respect to time of day (daytime or nighttime) as well as day of the week (weekday or weekend) and the user’s mobility, prior to the expectation-maximization (EM) clustering. Subsequently, the results were analyzed for comparison by applying machine learning methods such as multilayer perceptron (MLP) and support vector regression (SVR). The results showed a mean absolute error (MAE) 26% lower on average when regression analysis was performed through EM clustering compared to that obtained without EM clustering. For machine learning methods, the MAE for SVR was around 31% lower for LR and about 19% lower for MLP. It is concluded that pressure data from smartphones are as good as the ones from national automatic weather station (AWS) network. Yong-Hyuk Kim, Ji-Hun Ha, Yourim Yoon, Na-Young Kim, Hyo-Hyuc Im, Sangjin Sim, and Reno K. Y. Choi Copyright © 2016 Yong-Hyuk Kim et al. All rights reserved. Macroscopic Neural Oscillation during Skilled Reaching Movements in Humans Mon, 25 Jul 2016 08:36:03 +0000 http://www.hindawi.com/journals/cin/2016/2714052/ The neural mechanism of skilled movements, such as reaching, has been considered to differ from that of rhythmic movement such as locomotion. It is generally thought that skilled movements are consciously controlled by the brain, while rhythmic movements are usually controlled autonomously by the spinal cord and brain stem. However, several studies in recent decades have suggested that neural networks in the spinal cord may also be involved in the generation of skilled movements. Moreover, a recent study revealed that neural activities in the motor cortex exhibit rhythmic oscillations corresponding to movement frequency during reaching movements as rhythmic movements. However, whether the oscillations are generated in the spinal cord or the cortical circuit in the motor cortex causes the oscillations is unclear. If the spinal cord is involved in the skilled movements, then similar rhythmic oscillations with time delays should be found in macroscopic neural activity. We measured whole-brain MEG signals during reaching. The MEG signals were analyzed using a dynamical analysis method. We found that rhythmic oscillations with time delays occur in all subjects during reaching movements. The results suggest that the corticospinal system is involved in the generation and control of the skilled movements as rhythmic movements. Hong Gi Yeom, June Sic Kim, and Chun Kee Chung Copyright © 2016 Hong Gi Yeom et al. All rights reserved. Comparing the Performance of Popular MEG/EEG Artifact Correction Methods in an Evoked-Response Study Thu, 21 Jul 2016 06:27:48 +0000 http://www.hindawi.com/journals/cin/2016/7489108/ We here compared results achieved by applying popular methods for reducing artifacts in magnetoencephalography (MEG) and electroencephalography (EEG) recordings of the auditory evoked Mismatch Negativity (MMN) responses in healthy adult subjects. We compared the Signal Space Separation (SSS) and temporal SSS (tSSS) methods for reducing noise from external and nearby sources. Our results showed that tSSS reduces the interference level more reliably than plain SSS, particularly for MEG gradiometers, also for healthy subjects not wearing strongly interfering magnetic material. Therefore, tSSS is recommended over SSS. Furthermore, we found that better artifact correction is achieved by applying Independent Component Analysis (ICA) in comparison to Signal Space Projection (SSP). Although SSP reduces the baseline noise level more than ICA, SSP also significantly reduces the signal—slightly more than it reduces the artifacts interfering with the signal. However, ICA also adds noise, or correction errors, to the waveform when the signal-to-noise ratio (SNR) in the original data is relatively low—in particular to EEG and to MEG magnetometer data. In conclusion, ICA is recommended over SSP, but one should be careful when applying ICA to reduce artifacts on neurophysiological data with relatively low SNR. Niels Trusbak Haumann, Lauri Parkkonen, Marina Kliuchko, Peter Vuust, and Elvira Brattico Copyright © 2016 Niels Trusbak Haumann et al. All rights reserved. Ubiquitous Robotic Technology for Smart Manufacturing System Thu, 30 Jun 2016 11:53:28 +0000 http://www.hindawi.com/journals/cin/2016/6018686/ As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods. Wenshan Wang, Xiaoxiao Zhu, Liyu Wang, Qiang Qiu, and Qixin Cao Copyright © 2016 Wenshan Wang et al. All rights reserved. Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation Wed, 29 Jun 2016 14:55:20 +0000 http://www.hindawi.com/journals/cin/2016/5615618/ A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN) that acts as a Central Pattern Generator (CPG) producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies), which were estimated by a metaheuristic method based on Christiansen Grammar Evolution (CGE). The system has been implemented and validated on two robot platforms; firstly, we tested our system on a quadruped robot and, secondly, on a hexapod one. In this last one, we simulated the case where two legs of the hexapod were amputated and its locomotion mechanism has been changed. For the quadruped robot, the control is performed by the spiking neural network implemented on an Arduino board with 35% of resource usage. In the hexapod robot, we used Spartan 6 FPGA board with only 3% of resource usage. Numerical results show the effectiveness of the proposed system in both cases. A. Espinal, H. Rostro-Gonzalez, M. Carpio, E. I. Guerra-Hernandez, M. Ornelas-Rodriguez, H. J. Puga-Soberanes, M. A. Sotelo-Figueroa, and P. Melin Copyright © 2016 A. Espinal et al. All rights reserved. Automatic Training of Rat Cyborgs for Navigation Wed, 29 Jun 2016 12:08:25 +0000 http://www.hindawi.com/journals/cin/2016/6459251/ A rat cyborg system refers to a biological rat implanted with microelectrodes in its brain, via which the outer electrical stimuli can be delivered into the brain in vivo to control its behaviors. Rat cyborgs have various applications in emergency, such as search and rescue in disasters. Prior to a rat cyborg becoming controllable, a lot of effort is required to train it to adapt to the electrical stimuli. In this paper, we build a vision-based automatic training system for rat cyborgs to replace the time-consuming manual training procedure. A hierarchical framework is proposed to facilitate the colearning between rats and machines. In the framework, the behavioral states of a rat cyborg are visually sensed by a camera, a parameterized state machine is employed to model the training action transitions triggered by rat’s behavioral states, and an adaptive adjustment policy is developed to adaptively adjust the stimulation intensity. The experimental results of three rat cyborgs prove the effectiveness of our system. To the best of our knowledge, this study is the first to tackle automatic training of animal cyborgs. Yipeng Yu, Zhaohui Wu, Kedi Xu, Yongyue Gong, Nenggan Zheng, Xiaoxiang Zheng, and Gang Pan Copyright © 2016 Yipeng Yu et al. All rights reserved. A Character Level Based and Word Level Based Approach for Chinese-Vietnamese Machine Translation Wed, 29 Jun 2016 11:10:23 +0000 http://www.hindawi.com/journals/cin/2016/9821608/ Chinese and Vietnamese have the same isolated language; that is, the words are not delimited by spaces. In machine translation, word segmentation is often done first when translating from Chinese or Vietnamese into different languages (typically English) and vice versa. However, it is a matter for consideration that words may or may not be segmented when translating between two languages in which spaces are not used between words, such as Chinese and Vietnamese. Since Chinese-Vietnamese is a low-resource language pair, the sparse data problem is evident in the translation system of this language pair. Therefore, while translating, whether it should be segmented or not becomes more important. In this paper, we propose a new method for translating Chinese to Vietnamese based on a combination of the advantages of character level and word level translation. In addition, a hybrid approach that combines statistics and rules is used to translate on the word level. And at the character level, a statistical translation is used. The experimental results showed that our method improved the performance of machine translation over that of character or word level translation. Phuoc Tran, Dien Dinh, and Hien T. Nguyen Copyright © 2016 Phuoc Tran et al. All rights reserved. Kernel Recursive Least-Squares Temporal Difference Algorithms with Sparsification and Regularization Wed, 29 Jun 2016 09:26:18 +0000 http://www.hindawi.com/journals/cin/2016/2305854/ By combining with sparse kernel methods, least-squares temporal difference (LSTD) algorithms can construct the feature dictionary automatically and obtain a better generalization ability. However, the previous kernel-based LSTD algorithms do not consider regularization and their sparsification processes are batch or offline, which hinder their widespread applications in online learning problems. In this paper, we combine the following five techniques and propose two novel kernel recursive LSTD algorithms: (i) online sparsification, which can cope with unknown state regions and be used for online learning, (ii) and regularization, which can avoid overfitting and eliminate the influence of noise, (iii) recursive least squares, which can eliminate matrix-inversion operations and reduce computational complexity, (iv) a sliding-window approach, which can avoid caching all history samples and reduce the computational cost, and (v) the fixed-point subiteration and online pruning, which can make regularization easy to implement. Finally, simulation results on two 50-state chain problems demonstrate the effectiveness of our algorithms. Chunyuan Zhang, Qingxin Zhu, and Xinzheng Niu Copyright © 2016 Chunyuan Zhang et al. All rights reserved. Optimizing the Shunting Schedule of Electric Multiple Units Depot Using an Enhanced Particle Swarm Optimization Algorithm Wed, 29 Jun 2016 09:12:27 +0000 http://www.hindawi.com/journals/cin/2016/5804626/ The shunting schedule of electric multiple units depot (SSED) is one of the essential plans for high-speed train maintenance activities. This paper presents a 0-1 programming model to address the problem of determining an optimal SSED through automatic computing. The objective of the model is to minimize the number of shunting movements and the constraints include track occupation conflicts, shunting routes conflicts, time durations of maintenance processes, and shunting running time. An enhanced particle swarm optimization (EPSO) algorithm is proposed to solve the optimization problem. Finally, an empirical study from Shanghai South EMU Depot is carried out to illustrate the model and EPSO algorithm. The optimization results indicate that the proposed method is valid for the SSED problem and that the EPSO algorithm outperforms the traditional PSO algorithm on the aspect of optimality. Jiaxi Wang, Boliang Lin, and Junchen Jin Copyright © 2016 Jiaxi Wang et al. All rights reserved. Simulation and Validation in Brain Image Analysis Tue, 28 Jun 2016 06:39:49 +0000 http://www.hindawi.com/journals/cin/2016/1041058/ Jussi Tohka, Pierre Bellec, Christophe Grova, and Anthonin Reilhac Copyright © 2016 Jussi Tohka et al. All rights reserved. Deep Neural Networks Based Recognition of Plant Diseases by Leaf Image Classification Wed, 22 Jun 2016 12:15:53 +0000 http://www.hindawi.com/journals/cin/2016/3289801/ The latest generation of convolutional neural networks (CNNs) has achieved impressive results in the field of image classification. This paper is concerned with a new approach to the development of plant disease recognition model, based on leaf image classification, by the use of deep convolutional networks. Novel way of training and the methodology used facilitate a quick and easy system implementation in practice. The developed model is able to recognize 13 different types of plant diseases out of healthy leaves, with the ability to distinguish plant leaves from their surroundings. According to our knowledge, this method for plant disease recognition has been proposed for the first time. All essential steps required for implementing this disease recognition model are fully described throughout the paper, starting from gathering images in order to create a database, assessed by agricultural experts. Caffe, a deep learning framework developed by Berkley Vision and Learning Centre, was used to perform the deep CNN training. The experimental results on the developed model achieved precision between 91% and 98%, for separate class tests, on average 96.3%. Srdjan Sladojevic, Marko Arsenovic, Andras Anderla, Dubravko Culibrk, and Darko Stefanovic Copyright © 2016 Srdjan Sladojevic et al. All rights reserved. EOG-sEMG Human Interface for Communication Tue, 21 Jun 2016 12:11:37 +0000 http://www.hindawi.com/journals/cin/2016/7354082/ The aim of this study is to present electrooculogram (EOG) and surface electromyogram (sEMG) signals that can be used as a human-computer interface. Establishing an efficient alternative channel for communication without overt speech and hand movements is important for increasing the quality of life for patients suffering from amyotrophic lateral sclerosis, muscular dystrophy, or other illnesses. In this paper, we propose an EOG-sEMG human-computer interface system for communication using both cross-channels and parallel lines channels on the face with the same electrodes. This system could record EOG and sEMG signals as “dual-modality” for pattern recognition simultaneously. Although as much as 4 patterns could be recognized, dealing with the state of the patients, we only choose two classes (left and right motion) of EOG and two classes (left blink and right blink) of sEMG which are easily to be realized for simulation and monitoring task. From the simulation results, our system achieved four-pattern classification with an accuracy of 95.1%. Hiroki Tamura, Mingmin Yan, Keiko Sakurai, and Koichi Tanno Copyright © 2016 Hiroki Tamura et al. All rights reserved.