Publications

Publications Internationales / Equipe MLDM

Zerrouki N, Goléa N, Benoudjit N. Particle Swarm Optimization of Non Uniform Rational B-Splines for Robot Manipulators Path Planning. Periodica Polytechnica Electrical Engineering and Computer Science . 2017;61 (4) :337-349.Abstract

The path-planning problem is commonly formulated to handle the obstacle avoidance constraints. This problem becomes more complicated when further restrictions are added. It often requires efficient algorithms to be solved. In this paper, a new approach is proposed where the path is described by means of Non Uniform Rational B-Splines (NURBS for short) with more additional constraints. An evolutionary technique called Particle Swarm Optimization (PSO) with three options of particles velocity updating offering three alternatives namely the PSO with inertia weight (PSO-W), the constriction factor PSO (PSO-C) and the combination of the two(PSO-WC); are used to optimize the weights of the control points that serve as parameters of the algorithm describing the path. Simulation results show how the mixture of the first two options produces a powerful algorithm, specifically (PSO-WC), in producing a compromise between fast convergence and large number of potential solution. In addition, the whole approach seems to be flexible, powerful and useful for the generation of successful smooth trajectories for robot manipulator which are independent from environment conditions.

Tafsat A, Hadjili ML, Bouakaz A, Benoudjit N. Unsupervised cluster-based method for segmenting biological tumor volume of laryngeal tumors in 18F-FDG-PET images. IET Image Processing. 2016;11 (6) :389-396.Abstract

In radiotherapy using 18-fluorodeoxyglucose positron emission tomography (18F-FDG-PET), the accurate delineation of the biological tumour volume (BTV) is a crucial step. In this study, the authors suggest a new approach to segment the BTV in 18F-FDG-PET images. The technique is based on the k-means clustering algorithm incorporating automatic optimal cluster number estimation, using intrinsic positron emission tomography image information. Clinical dataset of seven patients have a laryngeal tumour with the actual BTV defined by histology serves as a reference, were included in this study for the evaluation of results. Promising results obtained by the proposed approach with a mean error equal to (0.7%) compared with other existing methods in clinical routine, including fuzzy c-means with (35.58%), gradient-based method with (19.14%) and threshold-based methods.