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In this paper, we propose an improved version of Twin SVM using a non-smooth optimization method. Twin SVM generally consists in determining two non-parallel planes by alternately solving two constrained optimization models. Solving this problem using the classical Lagrangian method has many limitations, notably: its only limited to handle Gaussian noise, generally exaggerates the influence of outliers and cannot handle unbalanced data, this due to the differentiability of the model. To circumvent these issues, we transform two-constraint optimization models using the penalty method into an unconstrained non-smooth optimization one. The non-smoothness nature of the problem has many advantages, but it requires special treatment, which is why we use the primal dual method to solve it, since it is the most appropriate and it is robust in terms of stability, convergence and speed (Lyaqini, Nachaoui and Hadri, 2022). To demonstrate the effectiveness of the proposed approach, several experiments were carried out on numerous UCI benchmarks, medical image and HandPD datasets. These experiments demonstrated the effectiveness and applicability of the proposed approach, with satisfactory results compared to the state of the art. [ABSTRACT FROM AUTHOR]

Particle filter (PF) is introduced to tackle the limitations of the Kalman filter which adopts Gaussian in the state and noise of the system. PFs have the problem of sample impoverishment and one approach to solve this problem is to optimize the proposal distribution shown by particles. This paper introduces a novel evolutionary PF based on Opposition based High Dimensional optimization Algorithm (OHDA) to reposition the particles of PF in high probable regions for estimation. OHDA will preserve the diversity of particles while emphasizing the more informative ones by information sharing and angular movement operators. Opposite particles are introduced in this paper to speed up the convergence of PF. Virtual forward movement by angular movement of OHDA is employed to better guide the search process. The optimized PF can improve the performance of the estimation algorithms in problems such as localization and SLAM. In robot localization problem, particles show the location of the robot in a known environment. For SLAM (Simultaneous Localization And Mapping), particles contain the location of the robot as well as estimated map of the environment. The application of the resulting evolutionary particle filter is tested in both localization and SLAM. Comparing the results of the proposed evolutionary particle filter with other algorithms confirms the efficiency of applying OHDA to PF in terms of improving estimation accuracy in the well-known Victoria park dataset and some other generated test environments. Comparing optimization algorithms on FASTSLAM and UFASTSLAM are PSO, FA, MVO, and MGWO. [ABSTRACT FROM AUTHOR]