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The purpose of this study is to develop a cost-effective autonomous wheelchair robot navigation method that assists the aging population.

Navigation in outdoor environments is still a challenging task for an autonomous mobile robot because of the highly unstructured and different characteristics of outdoor environments. This study examines a complete vision guided real-time approach for robot navigation in urban roads based on drivable road area detection by using deep learning. During navigation, the camera takes a snapshot of the road, and the captured image is then converted into an illuminant invariant image. Subsequently, a deep belief neural network considers this image as an input. It extracts additional discriminative abstract features by using general purpose learning procedure for detection. During obstacle avoidance, the robot measures the distance from the obstacle position by using estimated parameters of the calibrated camera, and it performs navigation by avoiding obstacles.

The developed method is implemented on a wheelchair robot, and it is verified by navigating the wheelchair robot on different types of urban curve roads. Navigation in real environments indicates that the wheelchair robot can move safely from one place to another. The navigation performance of the developed method and a comparison with laser range finder (LRF)-based methods were demonstrated through experiments.

This study develops a cost-effective navigation method by using a single camera. Additionally, it utilizes the advantages of deep learning techniques for robust classification of the drivable road area. It performs better in terms of navigation when compared to LRF-based methods in LRF-denied environments.

Many strategies have been put forward for training deep network models, however, stacking of several layers of non-linearities typically results in poor propagation of gradients and activations. The purpose of this paper is to explore the use of two steps strategy where initial deep learning model is obtained first by unsupervised learning and then optimizing the initial deep learning model by fine tuning. A number of fine tuning algorithms are explored in this work for optimizing deep learning models. This includes proposing a new algorithm where Backpropagation with adaptive gain algorithm is integrated with Dropout technique and the authors evaluate its performance in the fine tuning of the pretrained deep network.

The parameters of deep neural networks are first learnt using greedy layer-wise unsupervised pretraining. The proposed technique is then used to perform supervised fine tuning of the deep neural network model. Extensive experimental study is performed to evaluate the performance of the proposed fine tuning technique on three benchmark data sets: USPS, Gisette and MNIST. The authors have tested the approach on varying size data sets which include randomly chosen training samples of size 20, 50, 70 and 100 percent from the original data set.

Through extensive experimental study, it is concluded that the two steps strategy and the proposed fine tuning technique significantly yield promising results in optimization of deep network models.

This paper proposes employing several algorithms for fine tuning of deep network model. A new approach that integrates adaptive gain Backpropagation (BP) algorithm with Dropout technique is proposed for fine tuning of deep networks. Evaluation and comparison of various algorithms proposed for fine tuning on three benchmark data sets is presented in the paper.

Adequate resources for learning and training the data are an important constraint to develop an efficient classifier with outstanding performance. The data usually follows a biased distribution of classes that reflects an unequal distribution of classes within a dataset. This issue is known as the imbalance problem, which is one of the most common issues occurring in real-time applications. Learning of imbalanced datasets is a ubiquitous challenge in the field of data mining. Imbalanced data degrades the performance of the classifier by producing inaccurate results.

In the proposed work, a novel fuzzy-based Gaussian synthetic minority oversampling (FG-SMOTE) algorithm is proposed to process the imbalanced data. The mechanism of the Gaussian SMOTE technique is based on finding the nearest neighbour concept to balance the ratio between minority and majority class datasets. The ratio of the datasets belonging to the minority and majority class is balanced using a fuzzy-based Levenshtein distance measure technique.

The performance and the accuracy of the proposed algorithm is evaluated using the deep belief networks classifier and the results showed the efficiency of the fuzzy-based Gaussian SMOTE technique achieved an AUC: 93.7%. F1 Score Prediction: 94.2%, Geometric Mean Score: 93.6% predicted from confusion matrix.

The proposed research still retains some of the challenges that need to be focused such as application FG-SMOTE to multiclass imbalanced dataset and to evaluate dataset imbalance problem in a distributed environment.

The proposed algorithm fundamentally solves the data imbalance issues and challenges involved in handling the imbalanced data. FG-SMOTE has aided in balancing minority and majority class datasets.

Stock market forecasters are focusing to create a positive approach for predicting the stock price. The fundamental principle of an effective stock market prediction is not only to produce the maximum outcomes but also to reduce the unreliable stock price estimate. In the stock market, sentiment analysis enables people for making educated decisions regarding the investment in a business. Moreover, the stock analysis identifies the business of an organization or a company. In fact, the prediction of stock prices is more complex due to high volatile nature that varies a large range of investor sentiment, economic and political factors, changes in leadership and other factors. This prediction often becomes ineffective, while considering only the historical data or textural information. Attempts are made to make the prediction more precise with the news sentiment along with the stock price information.

This paper introduces a prediction framework via sentiment analysis. Thereby, the stock data and news sentiment data are also considered. From the stock data, technical indicator-based features like moving average convergence divergence (MACD), relative strength index (RSI) and moving average (MA) are extracted. At the same time, the news data are processed to determine the sentiments by certain processes like (1) pre-processing, where keyword extraction and sentiment categorization process takes place; (2) keyword extraction, where WordNet and sentiment categorization process is done; (3) feature extraction, where Proposed holoentropy based features is extracted. (4) Classification, deep neural network is used that returns the sentiment output. To make the system more accurate on predicting the sentiment, the training of NN is carried out by self-improved whale optimization algorithm (SIWOA). Finally, optimized deep belief network (DBN) is used to predict the stock that considers the features of stock data and sentiment results from news data. Here, the weights of DBN are tuned by the new SIWOA.

The performance of the adopted scheme is computed over the existing models in terms of certain measures. The stock dataset includes two companies such as Reliance Communications and Relaxo Footwear. In addition, each company consists of three datasets (a) in daily option, set start day 1-1-2019 and end day 1-12-2020, (b) in monthly option, set start Jan 2000 and end Dec 2020 and (c) in yearly option, set year 2000. Moreover, the adopted NN + DBN + SIWOA model was computed over the traditional classifiers like LSTM, NN + RF, NN + MLP and NN + SVM; also, it was compared over the existing optimization algorithms like NN + DBN + MFO, NN + DBN + CSA, NN + DBN + WOA and NN + DBN + PSO, correspondingly. Further, the performance was calculated based on the learning percentage that ranges from 60, 70, 80 and 90 in terms of certain measures like MAE, MSE and RMSE for six datasets. On observing the graph, the MAE of the adopted NN + DBN + SIWOA model was 91.67, 80, 91.11 and 93.33% superior to the existing classifiers like LSTM, NN + RF, NN + MLP and NN + SVM, respectively for dataset 1. The proposed NN + DBN + SIWOA method holds minimum MAE value of (∼0.21) at learning percentage 80 for dataset 1; whereas, the traditional models holds the value for NN + DBN + CSA (∼1.20), NN + DBN + MFO (∼1.21), NN + DBN + PSO (∼0.23) and NN + DBN + WOA (∼0.25), respectively. From the table, it was clear that the RMSRE of the proposed NN + DBN + SIWOA model was 3.14, 1.08, 1.38 and 15.28% better than the existing classifiers like LSTM, NN + RF, NN + MLP and NN + SVM, respectively, for dataset 6. In addition, he MSE of the adopted NN + DBN + SIWOA method attain lower values (∼54944.41) for dataset 2 than other existing schemes like NN + DBN + CSA(∼9.43), NN + DBN + MFO (∼56728.68), NN + DBN + PSO (∼2.95) and NN + DBN + WOA (∼56767.88), respectively.

This paper has introduced a prediction framework via sentiment analysis. Thereby, along with the stock data and news sentiment data were also considered. From the stock data, technical indicator based features like MACD, RSI and MA are extracted. Therefore, the proposed work was said to be much appropriate for stock market prediction.

Development of autonomous robot manipulator for human-robot assembly tasks is a key component to reach high effectiveness. In such tasks, the robot real-time object recognition is crucial. In addition, the need for simple and safe teaching techniques need to be considered, because: small size robot manipulators’ presence in everyday life environments is increasing requiring non-expert operators to teach the robot; and in small size applications, the operator has to teach several different motions in a short time.

For object recognition, the authors propose a deep belief neural network (DBNN)-based approach. The captured camera image is used as the input of the DBNN. The DBNN extracts the object features in the intermediate layers. In addition, the authors developed three teaching systems which utilize iPhone; haptic; and Kinect devices.

The object recognition by DBNN is robust for real-time applications. The robot picks up the object required by the user and places it in the target location. Three developed teaching systems are easy to use by non-experienced subjects, and they show different performance in terms of time to complete the task and accuracy.

The proposed method can ease the use of robot manipulators helping non-experienced users completing different assembly tasks.

This work applies DBNN for object recognition and three intuitive systems for teaching robot manipulators.

As a result of the deregulations in the power system networks, diverse beneficial operations have been competing to optimize their operational costs and improve the consistency of their electrical infrastructure. Having certain and comprehensive state assessment of the electrical equipment helps the assortment of the suitable maintenance plan. Hence, the insulation condition monitoring and diagnostic techniques for the reliable and economic transformers are necessary to accomplish a comprehensive and proficient transformer condition assessment.

The main intent of this paper is to develop a new prediction model for the aging assessment of power transformer insulation oil. The data pertaining to power transformer insulation oil have been already collected using 20 working power transformers of 16-20 MVA operated at various substations in Punjab, India. It includes various parameters associated with the transformer such as breakdown voltage, moisture, resistivity, tan δ, interfacial tension and flashpoint. These data are given as input for predicting the age of the insulation oil. The proposed aging assessment model deploys a hybrid classifier model by merging the neural network (NN) and deep belief network (DBN). As the main contribution of this paper, the training algorithm of both NN and DBN is replaced by the modified lion algorithm (LA) named as a randomly modified lion algorithm (RM-LA) to reduce the error difference between the predicted and actual outcomes. Finally, the comparative analysis of different prediction models with respect to error measures proves the efficiency of the proposed model.

For the Transformer 2, root mean square error (RMSE) of the developed RM-LA-NN + DBN was 83.2, 92.5, 40.4, 57.4, 93.9 and 72 per cent improved than NN + DBN, PSO, FF, CSA, PS-CSA and LA-NN + DBN, respectively. Moreover, the RMSE of the suggested RM-LA-NN + DBN was 97.4 per cent superior to DBN + NN, 96.9 per cent superior to PSO, 81.4 per cent superior to FF, 93.2 per cent superior to CSA, 49.6 per cent superior to PS-CSA and 36.6 per cent superior to LA-based NN + DBN, respectively, for the Transformer 13.

This paper presents a new model for the aging assessment of transformer insulation oil using RM-LA-based DBN + NN. This is the first work uses RM-LA-based optimization for aging assessment in power transformation insulation oil.

Nowadays, the speech emotion recognition (SER) model has enhanced as the main research topic in various fields including human–computer interaction as well as speech processing. Generally, it focuses on utilizing the models of machine learning for predicting the exact emotional status from speech. The advanced SER applications go successful in affective computing and human–computer interaction, which is making as the main component of computer system's next generation. This is because the natural human machine interface could grant the automatic service provisions, which need a better appreciation of user's emotional states.

This paper implements a new SER model that incorporates both gender and emotion recognition. Certain features are extracted and subjected for classification of emotions. For this, this paper uses deep belief network DBN model.

Through the performance analysis, it is observed that the developed method attains high accuracy rate (for best case) when compared to other methods, and it is 1.02% superior to whale optimization algorithm (WOA), 0.32% better from firefly (FF), 23.45% superior to particle swarm optimization (PSO) and 23.41% superior to genetic algorithm (GA). In case of worst scenario, the mean update of particle swarm and whale optimization (MUPW) in terms of accuracy is 15.63, 15.98, 16.06% and 16.03% superior to WOA, FF, PSO and GA, respectively. Under the mean case, the performance of MUPW is high, and it is 16.67, 10.38, 22.30 and 22.47% better from existing methods like WOA, FF, PSO, as well as GA, respectively.

This paper presents a new model for SER that aids both gender and emotion recognition. For the classification purpose, DBN is used and the weight of DBN is used and this is the first work uses MUPW algorithm for finding the optimal weight of DBN model.

This paper tactics to implement the attack detection in medical Internet of things (IoT) devices using improved deep learning architecture for accomplishing the concept bring your own device (BYOD). Here, a simulation-based hospital environment is modeled where many IoT devices or medical equipment are communicated with each other. The node or the device, which is creating the attack are recognized with the support of attribute collection. The dataset pertaining to the attack detection in medical IoT is gathered from each node that is considered as features. These features are subjected to a deep belief network (DBN), which is a part of deep learning algorithm. Despite the existing DBN, the number of hidden neurons of DBN is tuned or optimized correctly with the help of a hybrid meta-heuristic algorithm by merging grasshopper optimization algorithm (GOA) and spider monkey optimization (SMO) in order to enhance the accuracy of detection. The hybrid algorithm is termed as local leader phase-based GOA (LLP-GOA). The DBN is used to train the nodes by creating the data library with attack details, thus maintaining accurate detection during testing.

This paper has presented novel attack detection in medical IoT devices using improved deep learning architecture as BYOD. With this, this paper aims to show the high convergence and better performance in detecting attacks in the hospital network.

From the analysis, the overall performance analysis of the proposed LLP-GOA-based DBN in terms of accuracy was 0.25% better than particle swarm optimization (PSO)-DBN, 0.15% enhanced than grey wolf algorithm (GWO)-DBN, 0.26% enhanced than SMO-DBN and 0.43% enhanced than GOA-DBN. Similarly, the accuracy of the proposed LLP-GOA-DBN model was 13% better than support vector machine (SVM), 5.4% enhanced than k-nearest neighbor (KNN), 8.7% finer than neural network (NN) and 3.5% enhanced than DBN.

This paper adopts a hybrid algorithm termed as LLP-GOA for the accurate detection of attacks in medical IoT for improving the enhanced security in healthcare sector using the optimized deep learning. This is the first work which utilizes LLP-GOA algorithm for improving the performance of DBN for enhancing the security in the healthcare sector.

The purpose of this paper is to propose an approach to incorporate contextual information into collaborative filtering (CF) based on the restricted Boltzmann machine (RBM) and deep belief networks (DBNs). Traditionally, neither the RBM nor its derivative model has been applied to modeling contextual information. In this work, the authors analyze the RBM and explore how to utilize a user’s occupation information to enhance recommendation accuracy.

The proposed approach is based on the RBM. The authors employ user occupation information as a context to design a context-aware RBM and stack the context-aware RBM to construct DBNs for recommendations.

The experiments on the MovieLens data sets show that the user occupation-aware RBM outperforms other CF models, and combinations of different context-aware models by mutual information can obtain better accuracy. Moreover, the context-aware DBNs model is superior to baseline methods, indicating that deep networks have more qualifications for extracting preference features.

To improve recommendation accuracy through modeling contextual information, the authors propose context-aware CF approaches based on the RBM. Additionally, the authors attempt to introduce hybrid weights based on information entropy to combine context-aware models. Furthermore, the authors stack the RBM to construct a context-aware multilayer network model. The results of the experiments not only convey that the context-aware RBM has potential in terms of contextual information but also demonstrate that the combination method, the hybrid recommendation and the multilayer neural network extension have significant benefits for the recommendation quality.

Up to date development in sentiment analysis has resulted in a symbolic growth in the volume of study, especially on more subjective text types, namely, product or movie reviews. The key difference between these texts with news articles is that their target is defined and unique across the text. Hence, the reviews on newspaper articles can deal with three subtasks: correctly spotting the target, splitting the good and bad content from the reviews on the concerned target and evaluating different opinions provided in a detailed manner. On defining these tasks, this paper aims to implement a new sentiment analysis model for article reviews from the newspaper.

Here, tweets from various newspaper articles are taken and the sentiment analysis process is done with pre-processing, semantic word extraction, feature extraction and classification. Initially, the pre-processing phase is performed, in which different steps such as stop word removal, stemming, blank space removal are carried out and it results in producing the keywords that speak about positive, negative or neutral. Further, semantic words (similar) are extracted from the available dictionary by matching the keywords. Next, the feature extraction is done for the extracted keywords and semantic words using holoentropy to attain information statistics, which results in the attainment of maximum related information. Here, two categories of holoentropy features are extracted: joint holoentropy and cross holoentropy. These extracted features of entire keywords are finally subjected to a hybrid classifier, which merges the beneficial concepts of neural network (NN), and deep belief network (DBN). For improving the performance of sentiment classification, modification is done by inducing the idea of a modified rider optimization algorithm (ROA), so-called new steering updated ROA (NSU-ROA) into NN and DBN for weight update. Hence, the average of both improved classifiers will provide the classified sentiment as positive, negative or neutral from the reviews of newspaper articles effectively.

Three data sets were considered for experimentation. The results have shown that the developed NSU-ROA + DBN + NN attained high accuracy, which was 2.6% superior to particle swarm optimization, 3% superior to FireFly, 3.8% superior to grey wolf optimization, 5.5% superior to whale optimization algorithm and 3.2% superior to ROA-based DBN + NN from data set 1. The classification analysis has shown that the accuracy of the proposed NSU − DBN + NN was 3.4% enhanced than DBN + NN, 25% enhanced than DBN and 28.5% enhanced than NN and 32.3% enhanced than support vector machine from data set 2. Thus, the effective performance of the proposed NSU − ROA + DBN + NN on sentiment analysis of newspaper articles has been proved.

This paper adopts the latest optimization algorithm called the NSU-ROA to effectively recognize the sentiments of the newspapers with NN and DBN. This is the first work that uses NSU-ROA-based optimization for accurate identification of sentiments from newspaper articles.