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<p>In this paper, the issue of local minima associated with GNRON (Goal Nonreachable with Obstacles Nearby) has been solved on the Artificial Potential Field (APF) for robot path planning. A novel of repulsive potential function is proposed to solve the problem. The consideration of surrounding repulsive forces gives a trigger to escape from the local mi- nima. Addition of signum function on the repulsive force which considers relative distance between the robot and the goal ensures that the goal position is the global optima of the total potential. Simulation conducted to prove that the proposed algorithm can solve GNRON and local minima problem on APF. Scenario of each simulation set in different type of obs- tacle and goal condition. The results show that the proposed method is able to handle local minima and GNRON problem.</p>

Breast cancer is the most common cancer among women (43.3 incidents per 100.000 women), with the highest mortality (14.3 incidents per 100.000 women). Early detection is critical for survival. Using machine learning approaches, the problem can be effectively classified, predicted, and analyzed. In this study, we compared eight machine learning algorithms: Gaussian Naïve Bayes (GNB), k-Nearest Neighbors (K-NN), Support Vector Machine(SVM), Random Forest (RF), AdaBoost, Gradient Boosting (GB), XGBoost, and Multi-Layer Perceptron (MLP). The experiment is conducted using Breast Cancer Wisconsin datasets, confusion matrix, and 5-folds cross-validation. Experimental results showed that XGBoost provides the best performance. XGBoost obtained accuracy (97,19%), recall (96,75%), precision (97,28%), F1-score (96,99%), and AUC (99,61%). Our result showed that XGBoost is the most effective method to predict breast cancer in the Breast Cancer Wisconsin dataset.

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Diabetic Retinopathy (DR) is a disease which affect the vision ability. The observation by an ophthalmologist usually conducted by analyzing the retinal images of the patient which are marked by some DR features. However some misdiagnosis are usually found due to human error. Here, a deep learning-based low-cost embedded system is established to assist the doctor for grading the severity of the DR from the retinal images. A compact deep learning algorithm named Deep-DR-Net which fits on a small embedded board is afterwards proposed for such purposes. In the heart of Deep-DR-Net, a cascaded encoder-classifier network is arranged using residual style for ensuring the small model size. The usage of different types of convolutional layers subsequently guarantees the features richness of the network for differentiating the grade of the DR. Experimental results show the capability of the proposed system for detecting the existence as well as grading the severity of the DR symptomps.