WoS İndeksli Yayınlar Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12573/394
Browse
3 results
Search Results
Conference Object Practical Formation Acquisition Mechanism for Nonholonomic Leader-Follower Networks(Scitepress, 2022) Kabore, Kader Monhamady; Guler, SametA grand challenge lying ahead of the realization of multi-robot systems is the lack of an adequate coordination mechanism with reliable localization solutions. In some workspaces, external infrastructure needed for precise localization may not be always available to the MRS, e.g., GPS-denied environments, and the robots may need to rely on their onboard resources without explicit communication. We address the practical formation control of nonholonomic ground robots where external localization aids are not available. We propose a systematic framework for the formation maintenance problem that is composed of a localization module and a control module. The onboard localization module relies on heterogeneity in sensing modality comprised of ultrawideband, 2D LIDAR, and camera sensors. Particularly, we apply deep learning-based object detection algorithm to detect the bearing between robots and fuse the outcome with ultrawideband distance measurements for precise relative localization. Integration of the localization outcome into a distributed formation acquisition controller yields high performance. Furthermore, the proposed framework can eliminate the magnetometer sensor which is known to produce unreliable heading readings in some environments. We conduct several realistic simulations and real world experiments whose results validate the competency of the proposed solution.Article Citation - WoS: 26Citation - Scopus: 48Metabolic Imaging Based Sub-Classification of Lung Cancer(IEEE-Inst Electrical Electronics Engineers Inc, 2020) Bicakci, Mustafa; Ayyildiz, Oguzhan; Aydin, Zafer; Basturk, Alper; Karacavus, Seyhan; Yilmaz, BulentLung cancer is one of the deadliest cancer types whose 84% is non-small cell lung cancer (NSCLC). In this study, deep learning-based classification methods were investigated comprehensively to differentiate two subtypes of NSCLC, namely adenocarcinoma (ADC) and squamous cell carcinoma (SqCC). The study used 1457 F-18-FDG PET images/slices with tumor from 94 patients (88 men), 38 of which were ADC and the rest were SqCC. Three experiments were carried out to examine the contribution of peritumoral areas in PET images on subtype classification of tumors. We assessed multilayer perceptron (MLP) and three convolutional neural network (CNN) models such as SqueezeNet, VGG16 and VGG19 using three kinds of images in these experiments: 1) Whole slices without cropping or segmentation, 2) cropped image portions (square subimages) that include the tumor and 3) segmented image portions corresponding to tumors using random walk method. Several optimizers and regularization methods were used to optimize each model for the diagnostic classification. The classification models were trained and evaluated by performing stratified 10-fold cross validation, and F-score and area-under-curve (AUC) metrics were used to quantify the performance. According to our results, it is possible to say that inclusion of peritumoral regions/tissues both contributes to the success of models and makes segmentation effort unnecessary. To the best of our knowledge, deep learning-based models have not been applied to the subtype classification of NSCLC in PET imaging, therefore, this study is a significant cornerstone providing thorough comparisons and evaluations of several deep learning models on metabolic imaging for lung cancer. Even simpler deep learning models are found promising in this domain, indicating that any improvement in deep learning models in machine learning community can be reflected well in this domain as well.Article Citation - WoS: 17Citation - Scopus: 19A Deep Ensemble Approach for Long-Term Traffic Flow Prediction(Springer Heidelberg, 2024-01-27) Cini, Nevin; Aydin, ZaferIn the last 50 years, with the growth of cities and increase in the number of vehicles and mobility, traffic has become troublesome. As a result, traffic flow prediction started to attract attention as an important research area. However, despite the extensive literature, traffic flow prediction still remains as an open research problem, specifically for long-term traffic flow prediction. Compared to the models developed for short-term traffic flow prediction, the number of models developed for long-term traffic flow prediction is very few. Based on this shortcoming, in this study, we focus on long-term traffic flow prediction and propose a novel deep ensemble model (DEM). In order to build this ensemble model, first, we developed a convolutional neural network (CNN), a long short-term memory (LSTM) network and a gated recurrent unit (GRU) network as deep learning models, which formed the base learners. In the next step, we combine the output of these models according to their individual forecasting success. We use another deep learning model to determine the success of the individual models. Our proposed model is a flexible ensemble prediction model that can be updated based on traffic data. To evaluate the performance of the proposed model, we use a publicly available dataset. Experimental results show that the developed DEM model has a mean square error of 0.06 and a mean absolute error of 0.15 for single-step prediction; it shows that achieves a mean square error of 0.25 and a mean absolute error of 0.32 for multi-step prediction. We compared our proposed model with many models in different categories; individual deep learning models (i.e., LSTM, CNN, GRU), selected traditional machine learning models (i.e., linear regression, decision tree regression, k-nearest-neighbors regression) and other ensemble models such as random-forest regression. These results also support the claim that ensemble learning models perform better than individual models.