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14 Dec 2014 MRSim - Multi-Robot Simulator (v1.0) MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. Author: Micael Couceiro

Micael Couceiro

Oussama MOSLAH

Oussama MOSLAH

Hi, I am trying to run the demo and m getting the following error. Also I am not getting the 'run' option in the simulation window..

Undefined function 'prmex' for input arguments of type 'double'.

Error in simrobot/putrob (line 59)
if
prmex(round([xd'+simrobot.position(1);yd'+simrobot.position(2)]),matrix,-1,simrobot.number)
== -1

Error in simviewcb (line 425)
list1(i) = putrob(list1(i),history(1,1:2),matrix);

Error in simviewcb (line 385)
simviewcb loadfile;

Error while evaluating uimenu Callback

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19 Nov 2014 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Ahmad Azar

Ahmad Azar

5
12 Nov 2014 MRSim - Multi-Robot Simulator (v1.0) MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. Author: Micael Couceiro

Micael Couceiro

Talluri Raviteja

Talluri Raviteja

I keep getting this error

Cell contents reference from a non-cell array object.

Error in simrobot/runR (line 29)
message = buffer{getnum(list(j))-1};

Error in simviewcb (line 176)
[list,matrix]=runR(list,matrix,step);

Error in simviewcb (line 100)
simviewcb run;

Error in simeditcb (line 338)
simviewcb sim;

Error while evaluating uimenu Callback

What does that mean??

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31 Aug 2014 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

ABIN joy

ABIN joy

Respected Sir,
I already try your coding and it give me a good result. I need your help,how to choose the level for the PSO as 2.
so can u please help me. Thank you

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18 Aug 2014 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

NITHYA

NITHYA

Respected Sir,
i'm doing my ME project in brain tumor image segmentation using PSO i dont know how to calculate the fitness function and how to divide 256x256 image into 3x3,4x4 labels please help me.my mail id is:nithyamanianbeece@gmail.com

4
14 Jul 2014 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

vats

vats

respected sir,
iam not able to get your code. sir please can you mail me the matlab code for image thresholding using pso only. i'll be very thankful to you.
email id-pankaj.vats1010@gmail.com.

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16 Mar 2014 MRSim - Multi-Robot Simulator (v1.0) MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. Author: Micael Couceiro

Micael Couceiro

sky nku

sky nku

hi~I tried your works,but it seems there are a few
problems :
1 I make a simple map by myself,and put some robots using algorithm of alg2.m, but when run,it
turns out errors as follow:
Undefined function or variable "swarm".

Error in algDPSO (line 94)
message.swarm = swarm;

Error in simrobot/runR (line 22)
[list] = feval(list(j).af,list(j),list,matrix,step); % Take
robot from the list and execute algorithm

Error in simviewcb (line 176)
[list,matrix]=runR(list,matrix,step);

Error in simviewcb (line 100)
simviewcb run;

Error in simeditcb (line 338)
simviewcb sim;

Error while evaluating uimenu Callback

Comment only
25 Feb 2014 MRSim - Multi-Robot Simulator (v1.0) MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. Author: Micael Couceiro

Micael Couceiro

Akshay

Akshay

Hi there,

I am trying to run the demo and m getting the following error. Also I am not getting the 'run' option in the simulation window..

??? Undefined function or method 'prmex' for input
arguments of type 'double'.

Error in ==> simrobot.putrob at 59
if
prmex(round([xd'+simrobot.position(1);yd'+simrobot.position(2)]),matrix,-1,simrobot.number)
== -1

Error in ==> simviewcb at 425
list1(i) =
putrob(list1(i),history(1,1:2),matrix);

Error in ==> simviewcb at 385
simviewcb loadfile;

??? Error while evaluating uimenu Callback

Comment only
28 Jan 2014 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Akshay Gore

Akshay Gore

5
16 Dec 2013 pso Easy-to-use MatLab function for PSO. Author: Micael Couceiro

Micael Couceiro

Neeraj Bhanot

Neeraj Bhanot

pso('sin',1,[0,pi/2],1)

Swarming...Subscripted assignment dimension mismatch.

Error in psoboundspenalize (line 32)
state.ConstrViolations(i,:) = [c,ceq] ;

Error in pso (line 407)
state = boundcheckfcn(state,Aineq,bineq,Aeq,beq,LB,UB,nonlcon,...

Please look into above problem.

Thanks

Comment only
09 Nov 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Hello Marikhs,

Please, note that deleting the DPSO and FODPSO is irrelevant. As long as you choose 'pso' as method it won't influence at all.

The example given in the header should work on any image:
Iout = segmentation(I,4,'pso')

If you're having a problem working with a specific image just send it to me to micaelcouceiro@gmail.com and I'll try to check what's going on.

Regards.

Comment only
09 Nov 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Marikhs Roses

Marikhs Roses

Dear Sir,
I already try your coding and it give me a good result for the first try but after that it cannot give a result. I need your help. Can you please give me the coding for image segmentation using PSO only. the one that u have uploaded having some problem when i try to delete the DPSO and FODPSO. Please email me the code dayanghalimah@ymail.com and may God bless you for helping other people.

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22 Oct 2013 MRSim - Multi-Robot Simulator (v1.0) MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Dear Timo,

I haven't heard about this problem before although I can understand it. It seems that the round function inside drmex.c is conflicting with the round function from matlab or another user-created function you may have.
Before we try to think about a possible solution, please download the following version of MRSim:

http://www2.isr.uc.pt/~micaelcouceiro/media/MRSim_vbeta.zip

This version already has the compiled files which may or may not work with your system. Try to run simview/simedit without compiling the files from this new version.

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17 Oct 2013 MRSim - Multi-Robot Simulator (v1.0) MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. Author: Micael Couceiro

Micael Couceiro

Timo

Timo

Hi there, I get the following error messages if i try to compile drmex.c with my MATLAB2011a and gcc4.7:
drmex.c:86:14: error: conflicting types for ‘round’
In file included from /usr/include/math.h:71:0,
from drmex.c:1:
/usr/include/i386-linux-gnu/bits/mathcalls.h:311:1: note: previous declaration of ‘round’ was here
drmex.c: In function ‘round’:
drmex.c:86:38: error: expected declaration specifiers before ‘/’ token
drmex.c:105:1: error: expected ‘=’, ‘,’, ‘;’, ‘asm’ or ‘__attribute__’ before ‘{’ token
drmex.c:151:1: error: expected ‘{’ at end of input

mex: compile of ' "drmex.c"' failed.

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08 Oct 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Hello,

One of the references is cited on the description of the matlab file:

Pedram Ghamisi, Micael S. Couceiro, Jón Atli Benediktsson & Nuno M.F. Ferreira. “An Efficient Method for Segmentation of Images Based on Fractional Calculus and Natural Selection”, Expert Systems with Applications, Elsevier, 2012.

An alternative would be:

Pedram Ghamisi, Micael S. Couceiro, Fernando M. L. Martins and Jón Atli Benediktsson. “Multilevel Image Segmentation Based on Fractional-Order Darwinian Particle Swarm Optimization”, IEEE Transactions on Geoscience and Remote Sensing, 99, pp. 1-13, 2013.

If you have any problem accessing those e-mail me to micaelcouceiro@gmail.com and I'll send you my personal copy.

Regards.

Comment only
08 Oct 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

ge

ge

Dear Micael Couceiro,
The functions looks wonderful,but can your give me some reference about this algorithm, if the principle will be presented ,I would be appreciated.Thanks.
My E_mail address is:gexinmin2002@163.com

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28 Sep 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Dear Marikhs Roses,
Can you please tell me more details about what you may need? Did you tried to use this function on your case study first?
Regards

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28 Sep 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Marikhs Roses

Marikhs Roses

i have final year project title 'PSO-based approach in image segmenttation.' I dont really know about my own project because we will learn image processing in another months. so can u please help me. Thank you :)

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08 Sep 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

amal hamed

amal hamed

3
15 May 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Manini

Manini

Sir,
Could you please suggest a code for color image segmentation using PSO for matlab beginners like me. I am unable to follow the code particularly the fitness function. Could you please suggest a simple code or a fitness function that i could modify to get the color image segmented output.

Thanks

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11 Feb 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Dear Gousal,

The help (header of the script) is pretty much straightforward. But, basically, you simply have to open an image using MatLab as, for instance:

I=imread('teste.bmp');

Then call the segmentation function as, for instance:

Iout = segmentation(I,4,'pso')

This will result in a image Iout with the same dimensions than I but with only 4 different levels.

Kind regards

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11 Feb 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

shaik gousal

shaik gousal

Tell me the execution process of this code .please,,,,

5
20 Jan 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Dear Chen,

You may use nanmax(fitR) instead. This gnores the NaN's and return the maximum value excluding NaN's. That's what I did in the code and thought it was fixed everywhere but seems not.

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20 Jan 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

chen

chen

Dear Micael,
I use this algorithm to catch on to PSO algorithm, and improve the algorithm by doing some experiments. My experiment just use the PSO. I have understood the reason how the NAN happened. But now another question is how to find max(fitR) because the fitR is NAN. Does the procedure stop when it has find max(fitR) is NAN or how to compare NAN?

5
18 Jan 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Dear Chen,

This is a really boring error that bothers me sometimes. By the way, does that happen for the PSO, DPSO and FODPSO or only one of those? I'm asking that cause I remember to implement a way to avoid outputing a fitness function of NaN if that ever occurs but seems that it's not totally fixed...

Now I'll tell you why it happens. As you may know, the algorithms perform the image segmentation maximizing the between-class variance. On the other hand, the computation of the between-class variance depends on the inverse (as denominator) of the probability of occuring a specific level on that image. So, let us suppose that you have a grayscale 8-bit image with all the components except the intensity level 100. This will mean that the probability of occuring 100 will be zero. Hence, if a particle traveling on the search space decides to compute the between-class variance based on the 100 level, its fitness will return NaN since the probability of 100 is zero.

As I didn't implemented a system to avoid non-existant colors, I implemented a way to ignore NaN values and saw it working...and that's why I need to know in which occasions does that happen.

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18 Jan 2013 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

chen

chen

Dear Sir,
Thank you for supplying this code. While the algorithm run, the result of the fitness sometimes is NAN. So I wanna know the reason. Hope for your reply.

5
22 Oct 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Dear Manini,

The code you're presenting is exactly the fitness function, i.e., the between-class variance.

N is the number of particles and level the number of levels within each component (256 for 8-bit images).

You should read my paper
http://ac.els-cdn.com/S0957417412006756/1-s2.0-S0957417412006756-main.pdf?_tid=43de80bc-1c5f-11e2-a6bf-00000aab0f26&acdnat=1350920806_8d3bff7624f9aa0dd9cda3d10b6c3a4f
for more details about the fitness function.

In some few words, to compute the between-class variance, and since the number of levels may be different (it depends on the image you're using) a for loop is used. Therefore, the probability distribution and some other relevant parameters are then calculated at each iteration for each colour component and for each particle. In sum, the fitR(j) will represent the fitness function of the red colour component for robot j.

Hope that helps!

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22 Oct 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Manini

Manini

Sir, I am using your code for RGB multiobject image. Sir i want to know which is the fitness function here. and
for j=1:N
if size(I,3)==1 %grayscale image
fitR(j)=sum(probR(1:xR(j,1)))*(sum((1:xR(j,1)).*probR(1:xR(j,1))/sum(probR(1:xR(j,1)))) - sum((1:Lmax).*probR(1:Lmax)) )^2;
for jlevel=2:level-1
fitR(j)=fitR(j)+sum(probR(xR(j,jlevel-1)+1:xR(j,jlevel)))*(sum((xR(j,jlevel-1)+1:xR(j,jlevel)).*probR(xR(j,jlevel-1)+1:xR(j,jlevel))/sum(probR(xR(j,jlevel-1)+1:xR(j,jlevel))))- sum((1:Lmax).*probR(1:Lmax)))^2;
end
fitR(j)=fitR(j)+sum(probR(xR(j,level-1)+1:Lmax))*(sum((xR(j,level-1)+1:Lmax).*probR(xR(j,level-1)+1:Lmax)/sum(probR(xR(j,level-1)+1:Lmax)))- sum((1:Lmax).*probR(1:Lmax)))^2;
fitBestR(j)=fitR(j);

sir this is one of the the for loop from your code. can you please explain this for loop. I will be thankful.
Thanks

5
15 Oct 2012 MRSim - Multi-Robot Simulator (v1.0) MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Did you added all the files to MatLab directory using the set path? All files within the zip should be added in the MatLab path.

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15 Oct 2012 MRSim - Multi-Robot Simulator (v1.0) MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. Author: Micael Couceiro

Micael Couceiro

Wern-Juin Choy

Wern-Juin Choy

May I enquire as to what does this error mean >>
Error in simeditcb (line 50)
robotT = simrobot('',2,2,2,'',[1 1 0],1,10,10); % Create object

Error while evaluating uimenu Callback

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15 Oct 2012 MRSim - Multi-Robot Simulator (v1.0) MRSim allows the user to simulate the behavior of multiple mobile robots in virtual environments. Author: Micael Couceiro

Micael Couceiro

Wern-Juin Choy

Wern-Juin Choy

Have tried running your program. Tried loading the help file through the directions given but the command window keeps saying 'No help found for <xxx.m>'.
The simulator did appear after running but the About>help also did not produce a help screen.

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11 May 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Either you read the article recently publised on:
http://www.sciencedirect.com/science/article/pii/S0957417412006756?v=s5

Or you simply compare the fitness value (one of the outputs of the function).

Don't forget that all those algorithm are stochastic and for a correct evaluation you should perform multiple trials.

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11 May 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Mohsen Davarynejad

Mohsen Davarynejad

How to do evaluate the performance of each algorithm? So my question is that how should I believe that for instance the dpso outperforms the pso?

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12 Apr 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Harish

Harish

Dear sir,
Thank you very much for providing the code.
Please provide me mathematical description of the fitness function and if u have any published paper on it then a copy of that.

4
04 Apr 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

1º open an image in MatLab
I = imread('pic.jpg');

2º Follow instructions in the beginning of the code
e.g.,
Iout = segmentation(I);

3º See the result
e.g.,
imshow(Iout);

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04 Apr 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

jjj

jjj

how to run it sir

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26 Mar 2012 pso Easy-to-use MatLab function for PSO. Author: Micael Couceiro

Micael Couceiro

Vinod

Vinod

1
26 Mar 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Siro

Siro

5
09 Mar 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

You're welcome

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09 Mar 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Majid Al-Sirafi

Majid Al-Sirafi

wonderful program,thank you dear

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21 Feb 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

Kyle, I just uploaded a new version with a new segmentation method btw (FO-DPSO).

The segmentation methods are based on the traditional PSO presented by Kennedy and Eberhart in 1995, the Darwinian PSO presented by Tillett et al in 2005 (see more about it in http://www.netsup.net/~jtillett/darwin/) and the Darwinian PSO extension using fractional calculus presented by me and other authors in the Fractional Signals and Systems Symposium in 2011. This last paper will be soon available.

Anyway, this script basically uses such optimization methods to find the maximum between-classes variances. Another more detailed paper describing this script will soon be published.

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20 Feb 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Kyle Wang

Kyle Wang

Could you indicate the paper that the code is implemented based on?

4
03 Feb 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Micael Couceiro

Micael Couceiro

The intensity will have the same value than the intensity level that presents the higher between-class variance.
In other words, if it is presenting a level of 50 it means that this is the optimal level.

Anyway, you can easily change this with the matlab find function as:
eg: [a,b]=find(IMAGE==50);
IMAGE(a,b)=255;

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23 Jan 2012 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Qing

Qing

Hello Micael,
I'm using your function to segment my grayscale images. However the max intensity of the output image is only 50. How do you set it to be 255? Thanks!

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14 Dec 2011 pso Easy-to-use MatLab function for PSO. Author: Micael Couceiro

Micael Couceiro

huda nawaf

huda nawaf

hi,
please, i want to include pso in matlab, how get it

4
10 Nov 2011 Segmentation Multiple Image Segmentation using PSO, DPSO, FO-DPSO and exhaustive methods. Author: Micael Couceiro

Micael Couceiro

Muhammad Nawaz

Muhammad Nawaz

Strongly recommended for multicolour and multi objects images.

5

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