Research Journal of Applied Sciences, Engineering and Technology 4(18): 3425-3431, 2012 ISSN: 2040-7467 © Maxwell Scientific Organization, 2012 Submitted: April 17, 2012 Accepted: May 18, 2012 Published: September 15, 2012 Micro Calcification Clusters Detection by Using Gaussian Markov Random Fields Representation Xinsheng Zhang, Zhengshan Luo and Minghu Wang School of Management, Xi'an University of Architecture and Technology, Xi'an 710055, China Abstract: In order to develop an accurate computer-aided diagnosis system for the automatic detection of microcalcification clusters in mammograms. In this study, we presented a new microcalcification clusters detection method by using Gaussian Markov Random Fields (GMRFs) representation. The design and evaluation of the algorithm involved three main phases. In the first phase of the algorithm, a training dataset is employed to train and get the GMRF texture features of each image block and then the cluster center and bias are obtained. In the second phase of the algorithm, we use GMRFs to get it texture feature with a given image block . And finally, the distance between the given image block GMRFs features and the cluster center to make a decision whether it contains a microcalcification cluster or not. Keywords: Detection, feature representation, GMRFs, mammograms, mirocalcification clusters INTRODUCTION Breast cancer is the most common tumoral disease in women and is one of the major causes of death among middle-aged women in developed and developing countries, with incidences increasingly on the rise in recent years. Currently, mammographic screenings are one of the most reliable methods for early diagnosis, which is crucial for the effectiveness of treatment methods. In digital mammograms, an important sign of the early breast cancer is the existence of Microcalcification Clusters (MCs). One of the key techniques for early diagnosis of the breast cancer is to detect MCs and to judge whether they are malignant or not in mammograms. However, there is only about 3% information in mammograms, which can be seen with the naked eye. Due to the most details in mammograms cannot been perceived by human eyes, it is even very difficult for an skillful radiologist to find the sign of early breast cancer, i.e., micalcification clusters, as a result missing the best time for treatment. Because one of the very important early signs of breast cancer is the appearance of Micro calcification Clusters (MCs), which appear in 30-50% of mammographically diagnosed cases with tiny bright spots of different morphology. However, reading X-ray mammograms is a cumbersome task, because of the small differences in the image intensity of various breast tissues, especially for dense images. At present, mammographic images are visually examined by experts for the detection of image signs suggesting the presence of a tumor. They are small calcium deposits that appear as bright spots in (a) (b) Fig. 1: Example of (a) benign microcalcifications and (b) malignant microcalcifications a mammogram (Fig. 1) and they may appear as single spots or they can group to form clusters. Individual MCs are sometimes difficult to detect due to their variation in shape, orientation, brightness and size (typically, 0.05-1 mm) and because of the surrounding breast tissue. Moreover, both the spatial distribution of the MCs into the cluster and the shape of the MCs are strictly correlated to the likelihood of the presence of a malignant tumor. Corresponding Author: Xinsheng Zhang, School of Management, Xi n University of Architecture and Technology, Xi n 710055, China 3425 Res. J. Appl. Sci. Eng. Technol., 4(18): 3425-3431, 2012 There are several criteria existing to describe the shape properties of MCs. Among those, one of the best known is the classification criterion proposed by Brenna et al., (2009), which introduces five categories. Categories identify different kinds of MCs and ordered according to their degree of malignancy. The first type includes Oshaped calcifications and partially calcified ones (tea-cup calcifications). Type II is composed of regular, round calcifications with uniform density, while type III includes calcifications of the same shape and smaller size than class II. Irregular MCs (salt shaped) with high degree of malignancy belong to class IV and vermicular-shaped calcifications, having a very high degree of malignancy, are identified as type V. Because of its importance in breast cancer diagnosis, accurate detection of MCs is an important problem. Recently, a number of different approaches, which could assist radiologists in diagnosis of breast cancer, have been applied for the detection of MCs,. A thorough review of various methods for MC detection reported in the literature can be found in Brooks, (1986). In the literature, several techniques have been proposed to detect the presence of MCs using various methodologies. Concerning image segmentation and specification of Regions of Interest (ROIs), several methods have been proposed such as classical image filter and local threshold and techniques based on mathematical morphology, fractal models (Brooks and Kaupp, 2007), wavelet analysis and multiscale analysis. Furthermore, various classification methodologies have been reported for the characterization of ROI such as, rule-based systems and fuzzy logic systems (Carmine et al., 2006), statistical methods based on Markov random fields (Cao and Dai, 2008) and support vector machines (Chella et al., 2010). Nevertheless, the most work reported in the literature employs neural networks for cluster characterization (Lopez et al., 2005). Typically, a neural network accepts as input features computed for a specific region of interest and provides as output a characterization of the region as true MCs or not. While the SVM approach is a powerful paradigm for pattern classification. The design and evaluation of the algorithm involved three main phases. In the first phase of the algorithm, a training dataset is employed to train and get the GMRF texture features of each image block and then the cluster center and bias are obtained. In the second phase of the algorithm, we use GMRFs to get its texture feature with a given image block. And finally, the distance between the given image block GMRFs features and the cluster center to make a decision whether it contains a microcalcification cluster or not. METHODOLOGY Gaussian Markov random fields: Conception of Markov ramdom fields: A Markov random field, Markov network or undirected graphical model is a set of random variables having a Markov property described by an undirected graph. A Markov random field is similar to a Bayesian network in its representation of dependencies; the differences being that Bayesian networks are directed and acyclic, whereas Markov networks are undirected and may be cyclic. Thus, a Markov network can represent certain dependencies that a Bayesian network cannot (such as cyclic dependencies); on the other hand, it can't represent certain dependencies that a Bayesian network can (such as induced dependencies). Defination of Markov ramdom field models: We use the following notations: X = {Xs |s,S} (1) represents random variables, which are the values of X at site s, where: { S = s = (i , j ) 1≤ i ≤ M ,1 ≤ j ≤ N , i , j , M , N ∈ I } (2) and x = {xs |s,S} (3) are a realization of random variables X. If we let S be the set of image lattice sites, where M and N are the image height and width in pixels. The configuration space for the variable x = {xs|s0S} is denoted by S, where by: Ω = ∏Λ s, Λ s ∈ ℜ (4) s∈S For simplicity we may assume a common state space, 7 = {0, 1, 2, ..., L!1}, where, L is the number of grey levels. an image is modeled by defining each pixel in the image as a random variable XS, s0S and the grey level associated with the pixel equal to the value xs. Given that xs comes form a common state space 7, all possible images x = {xs|s0S} are then contained within the configuration space 7L. Definition 1: A neighborhood system N = {Ns|s0S} is a collection of subsets of S for which s ∉ N s and r ∈ N , ⇔ s ∈ N , Ns are the neighbors of s. Definition 2: A n-th order neighborhood system is 3426 { } N sn = s + r | s + r ∈ N s ,| r |2 ≤ F [ n] where, |r| denotes the Res. J. Appl. Sci. Eng. Technol., 4(18): 3425-3431, 2012 C P( X s = xs | X r = xr , r ≠ s) = P( X s = xs | X r = xr , r ∈ N s ) Gaussian Markov ramdom field models: We assume that the MRF models are discrete models, i.e., the MRF assumes a discrete set of Values at each lattice site. If X can be written as: P( xs | xs+ r , r ∈ N s ) = 1 / 2πσ 2 , 2 ⎧ ⎡ ⎤ ⎫⎪ ⎪ 2 exp ⎨ − 1 / 2σ ⎢ xs − µs − ∑ βsr ( xr − µr ) ⎥ ⎬ r ∈S ⎣ ⎦ ⎪⎭ ⎪⎩ Fig. 2: Neighbor sets for different MRF orders Euclidian distance between sites s and s+r, F[n] is a member of the set of all possible integers defined as: F [ n] = { F [ n ] | F [ n] = i 2 + j 2 , i , j ∈ I , i + j > 0 F [ k ] > F [ l ] ifk > l > 0} (5) The fifth order neighborhood system is displayed in Fig. 2. Xs = ∑ { S = s = (i , j )|1 ≤ i , j ≤ M , i , M ∈ I ⎡ B1,1 ⎢B 1, M Bθ = ⎢ ⎢ K ⎢ ⎢⎣ B1,2 ∀ s = (i , j ), s' = (i ' , j ') ∈ S } B1, M ⎤ B1,1 K B1, M − 2 ⎥⎥ K K ⎥ ⎥ B1,3 K B1,1 ⎥⎦ B1,2 K (9) (6) Definition 5: The diameter of a clique c is defined by: The matrix B2 is a MN×MN matrix, e is a zero mean, Gaussian noise process, with autocorrelation given by: ⎧ σ 2 if r = 0 ⎪⎪ E [ eses+r ] = ⎨ − θrσ 2 if r ∈ N s ⎪ 0 otherwise ⎪⎩ D(c) = max d ( s, s') { s,s'∈c } 2 The order of a clique c is defined by O(c) = D(c)+1 and the order of a set of cliques is the maximum of the orders of its elements. Thus a clique composed of a single site is of order 1 and a clique composed of two adjacent sites is of order 2. P(X = x)>0 for all x,Sx, where Sx, is the set of all possible x on S (10) Hence the GRMF can be completely characterized by the set of parameters {2, F2}. In addition, the parameter set 2 should satisfy the conditions: ⎧⎪1. θr = θ− r ⎨ T ⎩⎪ 2. 1 − θ φs > 0 ∀ s ∈ S Definition 6: A random field X ia a Markov Random Field (MRF) with respect to the neighborhood system N = { Ns , s,S} if and only if: C (8) Denoting X and e as MM×1 vectors of lexicographic ordered arrays and Eq. (8) can be rewritten as B2X = e, where B2 is a block-circulant symmetric matrix: Consider the usual discrete distance d on the lattice S. For instance, if S,Z2, we have: d ( s, s') = i − i ' + j − j ' + es , Bθ X = e For a finite lattice, the neighborhood for the lattice sites at the boundaries of the lattice is not complete. But this problem is circumvented by assuming that the lattice is folded into a torrid. Now we assume that: Definition 3: A clique c is a subset of S for which every pair of sites are neighbors. Definition 4: A clique set C in the neighborhood system Ns is C = {c | c , Ns}. r ∈ N sθr X s+ r (7) (11) where Ns is a vector whose length is equal to the number of elements in the neighbor set Ns. The individual elements of Ns are given by: 3427 Res. J. Appl. Sci. Eng. Technol., 4(18): 3425-3431, 2012 ⎛ ⎛ 2πs1 2πs2 ⎞ ⎛ r1 ⎞ ⎞ cos⎜⎜ ⎜ ⎟ ⎜ ⎟ ⎟⎟ r ∈ N s ⎝ ⎝ M N ⎠ ⎝ r2 ⎠ ⎠ (12) The second condition is necessary to ensure stationarity and the first to ensure that the covariance matrix of X is positive definite. The covariance matrix of e is F2B2 and it can be shown that the covariance of X is E = F2B2-1. The joint probability density function of X can be written as follows: ( P( X = x ) = Bθ / 2πσ 2 ) MN 2 { exp − 1 2σ 2 } x T Bθ x Fig. 3: A second order GRMF neighborhood system and where N is related to Ns as N = {s:s0Ns}c{-s:s0Ns}. From above, we can know that: (13) E ( e( s), e(r )) = 0, s≠ r = v, s= r and ( det Bθ = ∏ 1 − θ T φs s∈S ) In view of the Gaussian assumption, Eq. (19) implies E(e(s)|all y(r), r…s) = 0 which in turn implies: (14) p( y( s)|all y(r ), r ≠ s) Also X exhibits the Markov property: = P( x s | x s + r , r ∈ N s ) (15) [ ⎧ = 1 / 2πσ exp⎨ − xs − ∑ ⎩ r ∈N sθr xs+r ] / 2σ 2 Eq. (19) implies that {y()} is strict sense Markov with respect to neighbor set N justifying the name Markov. The unknown parameters 2 = (2rr0Ns) and v can be estimated using the least squares method as given below: 2⎫ ⎬ ⎭ The power spectrum Sx(T) of X can be shown to be: [ S x (ω ) = σ / 1 − ∑ 2 ( r ∈N sθr cos 2π rω M 1 1 + 2π rω M 2 2 )] θ* = −1 t (21) and [ ] v * = 1 / M 2 ∑ y( s) − θ *t q( s) T = {T1, T2}and 0#T1#M!1, 0#T2#N!1 Gaussian Markov random fields based texture representation: GMRFs texture model: Assume that the zero mean observations from the given texture [y(s), 0 S, S = {s = (i, j):0#i, j#M!1}] are Gaussian and obey the following difference equation: ∑ θr ( y( s + r ) + y( s − r )) + e( s) [∑ q(s)q (s)] [∑ q(s) y(s)] (16) where, y( S ) = (20) = p( y( s)|all y( s + r ), r ∈ N ) P( xs | xt , ∀ t ≠ s, t ∈ S ) 2 (19) 2 (22) where, q(s) = col.[y(s+r)+y(s!r), r0Ns] and the sum is taken oven S1 = S!SB, where, { Ω B = s = (i , j ): s ∈ Ω and ( s + r ) ∉ Ω for at least oner ∈ N (17) } r ∈N s where the zero mean stationary Gaussian noise sequence e(S) following properties: E ( e( s), e(r )) = − θs−r v , ( s − r ) ∈ N = v, s= r = 0, otherwise (18) One can synthesize textures close to the original one using 2* and v*. Some examples of texture synthesis using a second-order GMRF model (4 parameters) are given in Fig. 3. Now, if we suppose that the center of a neighborhood system is (0, 0), we can see that the first-order and second-order GMRF model can be modeled as: Ns = {(0, 1), (1, 0), (0, !1),(!1, 0)} 3428 (23) Res. J. Appl. Sci. Eng. Technol., 4(18): 3425-3431, 2012 and Training set(including MCs) ⎧⎪ (0,1), (11 , ), (1,0), (1,− 1), (0,− 1),⎫⎪ Ns = ⎨ ⎬ , ), (1,0) ⎭⎪ ⎩⎪ ( − 1,− 1), ( − 1,0),( − 11 (24) Compute GMRF texture feature of each samples (25) Including Mcs The local texture features of an image can be represented by the following feature vector: i i Compute the distance between Fi and Fdi Compute the cluster center Fdi and bias Ft respectively. Taking into account the symmetry in a neighborhood system, we can define its neighbor-hood as: N s = { r1, r 2, r 3, r 4} = {(0,1), (1,0), (0,− 1), ( − 1,0)} Testing samples Ii No d i= pdstd ? Yes Not including Mcs ( F = ( f1 , f 2 , f 3 , f 4 , f 5 f 6 ) = θr 1 ,θr 2 ,θr 3 ,θr 4 , µ ,σ 2 ) (26) Fig. 4: Block diagram of MCs detection method based on GMRFs textural feature representation The partial relevance of natural image is similar to the no after effects of Markov process in stochastic process, therefore an image may be regard as GMRF. Second order GMRF parameters estimation: Estimating` the parameters of GMRFs is simpler compared to MRF parameter estimation, because the partition function can actually be computed. Maximum likelihood and pseudo likelihood estimation schemes are commonly used to obtain the least square method. The maximum pseudo likelihood estimate in the GMRF case can be obtained in a closed form expression. This estimate is also called as the least square estimate in the literature. This estimate is obtained by: {θ ,σ } 2 MPL ( = arg max P x s | x s + r , r ∈ N s ,θ , σ 2 2 ∏ θ ,σ s∈S ) (27) and ⎡ ⎤ log ⎢ ∏ P xs | xs+r , r ∈ N s ,θ ,σ 2 ⎥ ⎣ s∈S ⎦ ( ) ⎤ 1 ⎡ MN ⎢ ⎥ =− log σ 2 − 2 xs − ∑ θr xs+r 2 2σ ⎢⎣ ⎥⎦ r ∈N s 2 (28) Now, if qs is the vector containing the elements in the neighbor set of xs arranged in a proper order, then the MPL estimate can be obtained as: −1 ⎡ ⎤ ⎛ ⎦ ⎝ s s ⎠ ⎡ ⎤ T 2 σ MPL = 1/ MN ⎢ ∑ xs2 − θ MPL ∑ q s xs ⎥ ⎣ s ( GMRF model, let qs = xs+ r1 + xs− r1 ,..., xs+ r4 + xs− r4 ) T and 2 = (2r, r 0 Ns) is the vector of parameters, we can get 2MPL and F2MPL, where 2MPL is asymptotic consistency in the GMRF model parameter estimation. If S is big enough, the obtained parameters can characterize the GMRF model. So, we can use there parameters as the texture features for classification of detection in our context. MCs detection based on GMRFs texture model: MCs detection based on the texture features in image texture analysis can be viewed as a problem of image segmentation. It makes use the texture feature in each pixels of local regional to segment textures in an image as normal region and the region containing calcifications. This is a commonly used supervised classification method. The detection algorithm firstly uses image blocks including calcification texture for training, so as to get on with calcification texture of the image feature description and regard the average of all the blocks feature descriptions as the clustering center. Given an unknown category image block, we can make use of the defined discriminant function to determine whether the pixel containing MCs or not on behalf of the local texture features of each pixel so as to get the purpose of MCs detection. The Block diagram of MCs detection algorithm based on GMRFs textural feature representation is illustrated in Fig. 4. The MCs detection method can be achieved as follows: ⎞ θ MPL = ⎢ ∑ qsqsT ⎥ ⎜ ∑ qs xs ⎟ ⎣ For the parameters estimation in a second-order s ⎦ (29) Step 1: Training stage: Given a training set with L samples containing MCs area, texture features of each sample can be gotten according to the above GMRF parameters estimation methods. Then the features matrix can be obtained as: 3429 Res. J. Appl. Sci. Eng. Technol., 4(18): 3425-3431, 2012 ⎡ f11 ⎢ 2 ⎢ f1 T ⎢ F = K ⎢ L− 1 ⎢ f1 ⎢ fL ⎣ 1 f 21 f 31 f 41 f 51 f 22 K f 2L − 1 f 2L f 32 K f 3L − 1 f 3L f 42 K f 4L − 1 f 4L f 52 K f 5L − 1 f 5L f 61 ⎤ ⎥ f 62 ⎥ K ⎥ ⎥ f 6L − 1 ⎥ f 6L ⎥⎦ EXPERIMENTAL RESULTS Using (θr1 ,θr 2 ,θr 3 ,θr 4 ,θr 5 ,θr 6 , µ ,σ 2 , mad ) as the feature (30) Let L µ j = 1 / L∑ Ft , j ( j = 1,2,...,6) , t =1 L ( σ 2j = 1 / ( L − 1)∑ Ft , j − µ j t =1 ) ( j = 1,2,...,6), 2 ([ ]) (31) µ = mean µ j , ( mad = mean abs( x − mean( x )) ) where : is the cluster center, mad is the maximum bias. Step 2: Feature representation: Give a test image block Ii, the GMRF texture feature parameters are extracted from the image using the trained GMRF model. Step 3: Detection stage: Then the distance to the cluster center is calculated using the feature vector. If the distance is greater than the given judgment bias dstd, then the image is considered to be one of image block with MCs, otherwise without MCs. The distance and judgment are defined as: ( ) d i = d µi , µ = 6 ∑ t =1 2 µti − µt , d std = p * σ 2 (32) respectively, where p is a tunable constant to finetune the scale of decision in detection. vectors, experiments were carried out to test their effectiveness in microcalcification clusters detection. A set of MCs images were manually chosen from the diagnosed mammographic images (digitized at 50 micron pixel edge), each available as a 1024 024 digitized picture with 0-255 gray level from the MIAS Mammographic Database. From each image, non-overlapping 128 28 image blocks containing MCs were carefully selected from the image dataset. Thus we selected about 295 blocks with MCs as the GMRF training sample set. No histogram equalization and other image preprocessing were done on the images. The mean of each image block was subtracted and the data was assumed to be a realization of a 2nd-order GMRF model since it was adequate enough to estimation the parameters of each block. A judgment distance classifier using the feature vectors was designed to perform the MCs decision. All experiments are performed on a PC with DUO Intel 2.93G CPU and 2G memory under Windows 7. MATLAB 2010 is used to implement the proposed method. In the experiments we chose 6 image blocks randomly from the training dataset to perform the GMRF modeling and GMRF features extraction using 2nd-order GRMF and the results are shown in Table 1. We first used 295 128 28 image blocks to train the 2nd-order GMRF model and got a feature matrix with 7 95 dimension and thus the cluster center of these image blocks was (0.3474, -0.1672, 0.4278, -0.1531) and the maximum and minimum distance were max Distance = 0.1621, min Distance = 0.0025, respectively. We then used the same 6 image blocks to perform the GMRF modeling and GMRF features extraction using 3rdorder GRMF and the results are shown in Table 2. We first used 295 128 28 image blocks to train the 3rd-order GMRF model and got a feature matrix with 9 95 dimension and thus the cluster center of these image blocks was (-0.0171, 0.2603, -0.0894, 0.5228, -0.1260, - Table 1: Training image eature vectors representation using 2nd-order GMRFs Parameters 21 22 23 24 0.3627 -0.2202 0.4570 -0.1855 Blocks I1 Blocks I2 0.3999 -0.2212 0.4597 -0.2191 Blocks I3 0.3799 -0.2151 0.4547 -0.2102 Blocks I4 0.3878 -0.2086 0.4629 -0.2163 0.3395 -0.1756 0.4699 -0.1940 Blocks I5 Blocks I6 0.3794 -0.1777 0.4527 -0.1544 Table 2: Training image feature vectors representation using 3nd-order GMRFs 21 22 23 24 25 Parameters Blocks I1 -0.0065 0.1925 -0.0950 0.6111 -0.1716 Blocks I2 -0.0075 0.2686 -0.1231 0.5782 -0.1436 Blocks I3 -0.0036 0.2071 -0.1011 0.6139 -0.1667 Blocks I4 -0.0119 0.2564 -0.1081 0.5953 -0.1376 Blocks I5 -0.0045 0.1864 -0.0832 0.6227 -0.1638 -0.0345 0.3316 -0.1077 0.4782 -0.1125 Blocks I6 3430 µ 2474.9062 2882.2685 3229.9613 2344.7663 2506.8389 3355.8566 26 -0.0767 -0.1243 -0.0969 -0.1310 -0.0902 -0.0878 µ 2474.9062 2882.2685 3229.9613 2344.7663 2506.8389 3355.8566 F2 7174.9230 17020.2024 7470.5424 7181.1996 29731.0852 7988.1600 F2 7174.9230 17020.2024 7470.5424 7181.1996 29731.0852 7988.1600 Mad 26.3895 60.4199 39.2334 30.2259 23.5185 147.4940 Mad 17.3176 40.6361 36.5529 18.9117 -27.5987 157.3489 Res. J. Appl. Sci. Eng. Technol., 4(18): 3425-3431, 2012 Table 3: Computation time using different Neighbor Systems (NS) NS Training sampe size Trainsample number Training time (s) 128×128 295 8 1st 128×128 295 8.8125 2nd 128×128 295 15.5313 3rd 128×128 295 17.3125 4th 128×128 295 18.3281 5th contains a microcalcification cluster or not by the judgment distance function. Experimental results that the proposed method get a good performance for MCs detection. 0.0787) and the maximum and minimum distance were max Distance = 0.0967, min Distance = 0.00023, respectively. To measure the efficiency of the different order GMRFs, we also used different neighbor system to perform the same task. These results are shown in Table 3. Finally, to invest the proposed method accuracy, we performed the following experiment by using 300 test samples randomly selected from MIAS database, which contains about 150 positive sample including MCs and 150 negative sample without MCs. Feature vectors of each test sample were computed and then made a decision according to the judgment distance function whether it contains MCs or not. In particular, the proposed method achieved the averaged positive accuracy of approximately 90.84% with respect to 88.73% negative accurate rate. The authors wish to thank the helpful comments and suggestions from my teachers and colleagues in intelligent detection and control lab of HIT at Weihai. And also thank Beijing Up-tech to provide part hardware. This study is supported by the study fund. CONCLUSION In this study, we presented a microcalcification clusters detection method by using Gaussian Markov Random Fields (GMRFs) representation. The design and evaluation of the algorithm involved three main phases. Firstly, a training dataset is employed to train the GMRF model and get texture features of each image block. Secondly, we use the trained GMRF model to get it texture feature with a given image block. And finally, the distance between the given image block GMRFs features and the cluster center to make a decision whether it ACKNOWLEDGMENT REFERENCES Brenna, A., C. Sonia, V. Manuela and B. Brett, 2009. A survey of robot learning from demonstration. Robot. Auton. Syst., 57: 469-483. Brooks, R., 1986. A robust layered control system for a mobile robot. IEEE J. Robotic. Autom., 2(1): 4-23. Brooks, R. and M. Kaupp, 2007. ORCA: A componment model and repository. Software Engineering for Experiment Robotics, pp: 231-251. Cao, L. and R. Dai, 2008. Fundamentals, Concepts, Analysis, Design and Beijing implementation., Post and Telecom Press, China. Carmine, G., L. Lucio and L. Vincenzo, 2006. Agentbased architecture for designing hybrid control system. Inform. Sci., 176: 1103-1130. Chella, A., C. Massimo and G. Salvatore, 2010. Agentoriented software patterns for rapid and affordable robot programming. J. Syst. Software, 83(4): 557-573. Lopez, M.E., L.M. Bergasa and R. Barea, 2005. 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