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BRAIN Journal-ANNSVM: A Novel Method for Graph-Type Classification by Utilization of Fourier Transformation, Wavelet Transformation, and Hough Transformation-Figure 8. Simulation of Coiflet 1 (PyWavelets discussion group, 2008), analyzing as one-dimensional images

Using only the wavelet coefficients was inadequate for classification. For example, for the pie chart, we obtained large wavelet coefficients located in the low-frequency domain; however, if we changed a circle in the pie chart to other shapes, such as a radar chart, the wavelet transformation gave results that were similar to those of the original pie chart. The Hough transformation can solve this problem since it detects the shapes of objects

BRAIN Journal-ANNSVM: A Novel Method for Graph-Type Classification by Utilization of Fourier Transformation, Wavelet Transformation, and Hough Transformation-Figure 2. Illustrating the core process of one-dimensional image construction by applying a DFT

First, we collect graph images as raw data, which contain different scales and sizes, and therefore need to be normalized. We clean the images by omitting irrelevant areas. For example, we omit unnecessary text that has nothing to do with our classification procedure. Moreover, to standardize the sizes and shapes of the images, we resize and reshape them to be 64 x 64 squares. Second, we examine each image pixel, each of which contains one color value. After each pixel is projected along the x- and y-axes, we count the number of projected pixels with a color value greater than zero to reduce image dimensionality. We, therefore, obtain two one-dimensional images from the x- and y-axes.

BRAIN Journal-Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance-Figure 22: Fifth Obstacle (obstacle with two entries that each allow the passing of one robot)

The swarm movement and obstacle avoidance are shown in Figures 8, 9 and 10 for the first obstacle. Figures 11, 12 and 13 are to present the second obstacle and its avoidance. Figures 14, 15, 16 and 17 are to present the third obstacle and its avoidance. Figures 18, 19, 20 and 21 are to present the fourth obstacle and its avoidance. Figures 22, 23, 24 and 25 present the fifth obstacle and its avoidance.

BRAIN Journal-Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance-Figure 12: Second obstacle with 100 robots before passing any robot (allows one group set to pass at a time)

BRAIN Journal-Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance-Figure 8 : The first obstacle (allows one robot to pass at a time)

BRAIN Journal-Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance-Figure 18: Fourth Obstacle (a part of the obstacle can be passed by a group set but the other part can be passed by only one robot at a time)

Fig. 9 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 9. Afroneta serrata sp. nov. A–C. Holotype, ♂ (UPSZMC 67569). A. Palp, retrolateral. B. Paracymbium, retrolateral. C. Prolateral. D–F. Allotype, ♀ (UPSZMC 67569). D. Epigyne, ventral. E. Aboral. F. Vulva, dorsal.

Fig. 7. Afroneta elgonensis Merrett, 2004. A–H in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 7. Afroneta elgonensis Merrett, 2004. A–H. Allotype, ♂ (UPSZMC 67572). A. Left bulbus (mirrored), dorsal. B. Retrolateral. C. Ventral. D. Prolateral. E. Left palp (mirrored), dorsal. F. Retrolateral. G. Ventral. H. Retrolateral. I–K. ♀ (UPSZMC 67572). I. Epigyne ventral. J. Aboral. K. Dorsal. Scale bars: 200 µm.

Fig. 6 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 6. Afroneta flavescens sp. nov. A–B. Allotype, ♀ (UPSZMC 67564). A. Habitus, frontal. B. Dorsal. C. Holotype, ♂ (UPSZMC 67563), habitus, dorsal. — D–G. Afroneta elgonensis Merrett, 2004. D. Allotype, ♂ (UPSZMC 67572), habitus, frontal. E. ♀, habitus, dorsal. F-G. Allotype, ♂ (UPSZMC 67572). F. Habitus, dorsal. G. Petiolus, ventral. Scale bars: 500 µm.

Fig. 5 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 5. Afroneta flavescens sp. nov. A–D. Holotype, ♂ (UPSZMC 67563). A. Palp, retrolateral. B. Ventral. C. Prolateral. D. Dorsal. E–H. Allotype, ♀ (UPSZMC 67564). E. Epigyne, ventral. F. Aboral. G. Cleared vulva, ventral. H. Cleared vulva, dorsal. Scale bars: 200 µm.

Fig. 12 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 12. Afroneta sarahae sp. nov. A–D. Holotype, ♂ (ZMUN 24056). A. Palp, retrolateral. B. Ventral. C. Prolateral. D. Dorsal. E–H. Allotype, ♀ (ZMUN 24056). E. Epigyne, ventral. F. Cleared vulva, aboral. G. Ventral. H. Dorsal. Scale bars: 200 µm.

Fig. 2 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 2. Camafroneta oku gen. et sp. nov. A–D. Holotype, ♂ (ZMUC00046889). A. Palp, retrolateral. B. Ventral. C. Prolateral. D. Dorsal. E–H. Allotype, ♀ (ZMUC00046889). E. Epigyne, ventral. F. Aboral. G. Cleared vulva, ventral. H. Dorsal. Scale bars: 200 µm.

Fig. 1 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 1. Camafroneta oku gen. et sp. nov. A–B. Holotype, ♂ (ZMUC00046889). A. Palp, retrolateral. B. Prolateral. C–D. Allotype, ♀ (ZMUC00046889). C. Epigyne, ventral. D. Vulva, dorsal. E. ♀ (ZMUC00046901) metatarsus 1, retrolateral.

Fig. 4 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 4. Afroneta flavescens sp. nov. A–B. Holotype, ♂ (UPSZMC 67563). A. Palp, retrolateral. B. Prolateral. C–D. Allotype, ♀ (UPSZMC 67564). C. Epigyne, ventral. D. Vulva, dorsal.

Fig. 8. Afroneta elgonensis Merrett, 2004. A–D in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 8. Afroneta elgonensis Merrett, 2004. A–D. Allotype, ♂ (UPSZMC 67572). A. Bulbus, prolateral. B. Dorsal. C. Ventral. D. Palp, dorsal. E–F. ♀ (UPSZMC 67572). E. Epigyne, ventral. F. Vulva, dorsal.

Fig. 11. A–C in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 11. A–C. Afroneta serrata sp. nov. A. Holotype, ♂ (UPSZMC 67569), habitus, frontal. B. Allotype, ♀ (UPSZMC 67569), habitus, dorsal. C. ♂ (UPSZMC 67570), habitus, dorsal. — D–F. Afroneta sarahae sp. nov. D. Holotype, ♂ (ZMUN 24056), habitus, frontal. E. Allotype, ♀ (ZMUN 24056), habitus, dorsal. F. Holotype, ♂ (ZMUN 24056), habitus, dorsal. Scale bars: 500 µm.

Fig. 13 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 13. Afroneta sarahae sp. nov. A–F. Holotype, ♂ (ZMUN 24056). A. Palp, retrolateral. B. Paracymbium different angle, retrolateral. C. Palp, paracymbium different angle, retrolateral. D. Right palp specimen 2, paracymbium, retrolateral. E. Left palp specimen 2, paracymbium, retrolateral. F. Palp, prolateral. G–H. Allotype, ♀ (ZMUN 24056). G. Epigyne, ventral. H. Vulva, dorsal. Scale bar: 200 µm.

Fig. 10 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 10. Afroneta serrata sp. nov. A–D. ♂ (UPSZMC 67570). A. Palp, retrolateral. B. Ventral. C. Prolateral. D. Dorsal. E–H. Allotype, ♀ (UPSZMC 67569). E. Epigyne, ventral. F. Aboral. G. Cleared vulva, ventral. H. Dorsal. Scale bars: 200 µm.

Fig. 3 in Description of one new genus and four new species of mynoglenine spiders from Africa (Araneae: Linyphiidae: Mynogleninae)

Fig. 3. Camafroneta oku gen. et sp. nov. A, D. Allotype, ♀ (ZMUC00046889). B, C, E–G. Holotype, ♂ (ZMUC00046889). A. Habitus, frontal. B. Habitus, frontal. C. Sternum. D. Habitus, dorsal. E. Habitus, dorsal. F. Habitus, lateral. G. Petiolus, ventral. Scale bars: 500 µm.