Ahmed Haj Darwish

University of Aleppo · Department of Artificial Intelligence and Natural Languages

This paper focuses on using the Bees Algorithm in both its basic and enhanced forms to tune the parameters of a fuzzy logic controller developed to stabilise and balance an under-actuated two-link acrobatic robot (ACROBOT) in the upright position. A linear quadratic regulator (LQR) was first developed to obtain the scaling gains needed to design th...

The current paper presents the use of the bees algorithm with Kalman filtering to train a radial basis function (RBF) neural network. An enhanced fuzzy selection system has been developed to choose local search sites depending on the error and training accuracy of the RBF network. The paper provides comparative results obtained when applying RBF ne...

This paper presents the result of research in developing a novel training model for Adaptive Neuro-Fuzzy Inference Systems (ANFIS). ANFIS integrates the learning ability of Artificial Neural Networks with the Takagi-Sugeno Fuzzy Inference System to approximate nonlinear functions. Therefore, it is considered as a Universal Estimator. The original a...

This paper presents a solution to plan a path using a new form of the Bees Algorithm for a 2-Wheeled Differential Drive mobile robot. This robot is used in an indoor environment. The environment consists of static and dynamic obstacles which are represented by a continuous configuration space as an occupancy map-based. The proposed method is run in...

In this article, Particle Filter and C-means are used to predict a value of a point in a time series. Similar data in a time-series are grouped using C-means algorithm. Afterward, a number of particle filters are used as sub-predictors. These sub-predictors start from different points, which are the centers of clusters resulted from clustering algo...

This research work presents a modified form of the Bees Algorithm for mobile robotMobile robotpath planningPath planning. This modification is based on an alternative method to generate the initial population of the Bees Algorithm. The proposed method is adopted with the Bees AlgorithmBees Algorithm to find the shortest collision-free pathCollision...

This paper introduces a novel method to solve a maze problem. The proposed method uses Tremaux’s and the Bees Algorithms to find the shortest pathway in a maze. Using the Bees Algorithm gives Tremaux’s Algorithm the ability to handle with continuous data. The proposed method has been tested using benchmark of mazes. The results obtained have been c...

In this paper, the RBF artificial neural network is used to derive the forward kinematic model for a robot arm called Gryphon which is an articulated robot manipulator with 5 DoFs. The neural network was adapted using a training set consist of a group of input/output pairs. The training set was built by the direct measurement of robot positions wit...

Java programming language

This paper presents a system of systems approach to implement high-speed searching to solve complex optimization problems. In most optimization techniques, parallel computation is not effective due to the complexity in algorithm. Here, the search space is distributed within processing power of high performance computing resources. The methodology t...

The Bees Algorithm is a swarm-based algorithm that mimics the natural food foraging behaviour of honey bees. The algorithm essentially involves both random exploration of the solution space and more focused exploitation of promising local search sites. A basic version of the Bees Algorithm has been applied to function optimisation and a variety of...

This paper presents the use of the Bees Algorithm for the Environmental/Economic (Power) Dispatch (EED) problem which is formulated as a nonlinear constrained multi-objective optimisation problem. In this problem, both fuel cost and nitrogen oxides emission are to be simultaneously minimised. Simulation results presented for the standard IEEE 30-bu...

This paper presents using the Bees Algorithm for Environmental/Economic power Dispatch problem which is formulated as a nonlinear constrained multi-objective optimisation problem. In this problem, both fuel cost and emission are to be simultaneously minimised. Simulation results presented for the standard IEEE 30-bus system using the Bees Algorithm...

This paper discusses the application of the Bees Algorithm to fuzzy clustering. The Bees Algorithm is used to optimise the performance of the fuzzy C-Means (FCM) algorithm and improve its clustering results. Computational experiments show that the Bees Algorithm gives a significant improvement over the FCM algorithm on its own and better results co...

This paper discusses the application of the Bees Al gorithm to the solution of two common problems associated with a printed circuit board assembly ma chine, namely, feeder arrangement and component placement sequencing. Computational experiments show that the Bees Algorithm gives a significant reduction in as sembly time compared to the results ob...

This paper focuses on using the Bees Algorithm to t une the parameters of a fuzzy logic controller deve loped to stabilise and balance an under-actuated two-link ac robatic robot (ACROBOT) in the upright position. A linear quadratic regulator (LQR) was first developed to ob tain the scaling gains needed to design the fuzzy l ogic controller. Simula...