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In [[computer science]], '''Imperialist Competitive Algorithm (ICA)'''<ref name=ica_en_2007_cnf_atashpaz_ica_ica/> is a computational method that is used to solve [[optimization problem]]s of different types. Like most of the methods in the area of [[evolutionary computation]], ICA does not need the gradient of the function in its optimization process.


From a specific point of view, ICA can be thought of as the social counterpart of [[genetic algorithms]] (GAs). ICA is the mathematical model and the computer simulation of human [[social evolution]], while GAs are based on the [[biological evolution]] of species.


== Algorithm ==
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[[File:Imperialist-competitive-algorithm-flowchart.jpg|thumb|420px|Figure 1: Flowchart of Imperialist Competitive Algorithm (ICA)]]
Figure 1 shows the flowchart of the Imperialist Competitive Algorithm. This algorithm starts by generating a set of candidate random solutions in the search space of the optimization problem. The generated random points are called the initial ''Countries''. Countries in this algorithm are the counterpart of ''Chromosome''s in GAs and ''Particle''s in [[Particle Swarm Optimization]] (PSO) and it is an array of values of a candidate solution of optimization problem. The [[Loss function|cost function]] of the optimization problem determines the power of each country. Based on their power, some of the best initial countries (the countries with the least cost function value), become ''Imperialists'' and start taking control of other countries (called ''colonies'') and form the initial ''Empires''.<ref name=ica_en_2007_cnf_atashpaz_ica_ica/>
 
Two main operators of this algorithm are ''Assimilation'' and ''Revolution''. Assimilation makes the colonies of each empire get closer to the imperialist state in the space of socio-political characteristics (optimization search space). Revolution brings about sudden random changes in the position of some of the countries in the search space. During assimilation and revolution a colony might reach a better position and has the chance to take the control of the entire empire and replace the current imperialist state of the empire.<ref name=ica_en_2010_jnl_nazari_integrated_product_mix_outsourcing/>
 
''Imperialistic Competition'' is another part of this algorithm. All the empires try to win this game and take possession of colonies of other empires. In each step of the algorithm, based on their power, all the empires have a chance to take control of one or more of the colonies of the weakest empire.<ref name=ica_en_2007_cnf_atashpaz_ica_ica/>
 
Algorithm continues with the mentioned steps (Assimilation, Revolution, Competition) until a stop condition is satisfied.
 
== Pseudocode ==
The above steps can be summarized as the below [[pseudocode]].<ref name=ica_en_2010_jnl_nazari_integrated_product_mix_outsourcing/>
0) Define objective function: <math>f(\mathbf{x}), \quad \mathbf{x}=(x_1,x_2,\dots,x_d); \, </math>
1) Initialization of the algorithm. Generate some random solution in the search space and create initial empires.
    2) Assimilation: Colonies move towards imperialist states in different in directions.
    3) Revolution: Random changes occur in the characteristics of some countries.
    4) Position exchange between a colony and Imperialist. A colony with a better position than the imperialist,  
        has the chance to take the control of empire by replacing the existing imperialist.
    5) Imperialistic competition: All imperialists compete to take possession of colonies of each other.
    6) Eliminate the powerless empires. Weak empires lose their power gradually and they will finally be eliminated.
    7) If the stop condition is satisfied, stop, if not go to 2.
  8) End
 
== Variants ==
Like for [[Particle Swarm Optimization|PSO]], the first version of ICA was proposed for solving continuous optimization problems. Then in other works different variants of ICA were proposed for solving both discrete and continuous problems. For example Chaotic ICA is proposed by Duan, etal.<ref name=ica_en_2009_jnl_duan_template_matching_chaotic_ica/> and also a version of this algorithm for handling constrained optimization problems is proposed by Zhang, etal.<ref name=ica_en_2009_cnf_zhang_improved_ica_constrained_optimization/>
 
== Applications ==
ICA is used to solve different optimization problems in various areas of engineering and science. The following are some of the applications of this algorithm.
 
* Designing controller for industrial systems<ref name=ica_en_2008_en_conf_rajabioun_decentralized_pid_controller_design_mimo_evaporator/><ref name=ica_en_2008_jnl_atashpaz_ijicc_pid_mimo_distillation_column_process/><ref name=ica_en_2008_jnl_atashpaz_ijicc_pid_mimo_distillation_column_process/><ref name=ica_en_2007_cnf_atashpaz_optimal_pid_controller_isfs2007/><ref name=ica_en_2008_en_bchtr_rajabioun_nash_equilibrium_point_achievement/><ref name=ica_en_2009_jnl_atashpaz_decentralized_pid_controller_optimal_shrinkage_gershgorin_bands/>
* Designing Intelligent Recommender Systems<ref name=ica_en_2008_cnf_sepehrirad_recommender_systems/>
* Solving optimization problems in communication systems.<ref name=ica_en_2009_jnl_khabbazi_minimum_bit_error_rate_beamforming/><ref name=ica_2010_en_jnl_Alikhani_Evaluation_of_Image_Segmentation_Methods/><ref name=ica_2010_en_cnf_Sayadnavard_Wireless_sensor_network_localization/>
* Solving scheduling and production management problems<ref name=ica_en_2010_jnl_nazari_integrated_product_mix_outsourcing/><ref name=ica_en_2009_jnl_jolai_pareto_simulated_annealing_offline_scheduling_problem_with_rejection/><ref name=ica_en_2010_jnl_shokrollahpour_bi_criteria_flowshop/><ref name=ica_2010_en_jnl_Forouharfard_schedule_cross_docking_systems/><ref name=ica_2010_en_jnl_Karimi_scheduling_flexible_flow_shops_ica_electromagnetic/><ref name=ica_2010_en_jnl_Bagher_Balancing_of_stochastic_U_Type_assembly_lines/><ref name=ica_2010_en_jnl_Sarayloo_ica_Dynamic_Cell_Formation/>
* Training and analysis of Artificial Neural Networks<ref name=ica_en_2008_jnl_oskouyi_material_properties_characterization_sharp_indentation_test/><ref name=ica_en_2009_cnf_mahmoudi_ann_weights_optimization/>
* Nash Equilibrium Point Achievement<ref name=ica_en_2008_en_bchtr_rajabioun_nash_equilibrium_point_achievement/>
* Design and thermodynamic optimization of plate-fin heat exchangers<ref name=ica_moslem_2011/>
* and so on<ref name=ica_en_2010_jnl_lucas_linear_induction_motor/><ref name=ica_2010_en_jnl_omid_phev/><ref name=ica_2010_en_jnl_niknam_k_means_clustering/><ref name=ica_2010_en_jnl_mozafari_thin_interphase/>
 
== References ==
{{Reflist|refs=
 
<ref name=ica_moslem_2011>
{{cite conference
|last1= Yousefi
|first1= Moslem
|last2= Mohammadi
|first2= Hossein
|title= Second law based optimization of a plate fin heat exchanger using Imperialist Competitive Algorithm
|booktitle= International Journal of the Physical Sciences
|year= 2011
|volume= 6
|pages= 4749–4759
}}
</ref>
 
<ref name=ica_en_2007_cnf_atashpaz_ica_ica>
{{cite conference
|last1= Atashpaz-Gargari
|first1= E.
|last2= Lucas
|first2= C
|title= Imperialist Competitive Algorithm: An algorithm for optimization inspired by imperialistic competition
|booktitle= IEEE Congress on Evolutionary Computation
|year= 2007
|volume= 7
|pages= 4661–4666
}}
</ref>
 
<ref name= ica_en_2009_jnl_duan_template_matching_chaotic_ica>
{{cite journal
|last1= Duan
|first1=H.
|last2=Xu
|first2=C.
|last3=Liu
|first3=S.
|last4=Shao
|first4=S.
|title=Template matching using chaotic imperialist competitive algorithm
|journal=Pattern Recognition Letters
|year=2009
|volume=39
|issue=6
|pages=1362–1381
}}
</ref>
 
<ref name=ica_en_2009_cnf_zhang_improved_ica_constrained_optimization>
{{cite conference
|last1=Zhang
|first1=Yang
|last2=Wang
|first2=Yong
|last3=Peng
|first3=Cheng
|title=Improved Imperialist Competitive Algorithm for Constrained Optimization
|booktitle=Computer Science-Technology and Applications, IFCSTA
|year=2009
}}
</ref>
 
<ref name=ica_en_2008_en_conf_rajabioun_decentralized_pid_controller_design_mimo_evaporator>
{{cite conference
|last1=Rajabioun
|first1=R.
|last2=Hashemzadeh
|first2=F.
|last3=Atashpaz-Gargari
|first3=E.
|last4=Mesgari
|first4=B.
|last5=Rajaei Salmasi
|first5=F.
|title=Identification of a MIMO evaporator and its decentralized PID controller tuning using Colonial Competitive Algorithm
|booktitle=In the proceeding of IFAC World Congress, Seoul, Korea
|year=2008
|pages=9952–9957
}}
</ref>
 
<ref name=ica_en_2008_jnl_atashpaz_ijicc_pid_mimo_distillation_column_process>
{{cite journal
|last1= Atashpaz-Gargari
|first1= E.
|last2= Hashemzadeh
|first2= F.
|last3= Rajabioun
|first3= R.
|last4= Lucas
|first4= C.
|title= Colonial competitive algorithm: A novel approach for PID controller design in MIMO distillation column process
|journal= International Journal of Intelligent Computing and Cybernetics
|year= 2008
|volume= 1
|issue= 3
|pages= 337–355
}}
</ref>
 
<ref name=ica_en_2008_jnl_atashpaz_ijicc_pid_mimo_distillation_column_process>
{{cite journal
|last1= Gargari
|first1= E.
|last2= Hashemzadeh
|first2= F.
|last3= Rajabioun
|first3= R.
|last4= Lucas
|first4= C.
|title= Colonial competitive algorithm: A novel approach for PID controller design in MIMO distillation column process
|journal= International Journal of Intelligent Computing and Cybernetics
|year= 2008
|volume=  1
|pages= 337–355
}}
</ref>
 
<ref name=ica_en_2007_cnf_atashpaz_optimal_pid_controller_isfs2007>
{{cite conference
|last1= Atashpaz-Gargari
|first1= E.
|last2= Lucas
|first2= C.
|title= Designing an optimal PID controller using Colonial Competitive Algorithm
|booktitle= Proceeding of First Iranian Joint Congress on Intelligent and Fuzzy Systems
|year= 2007
}}
</ref>
 
<ref name=ica_en_2008_en_bchtr_rajabioun_nash_equilibrium_point_achievement>
{{cite conference
|last1= Rajabioun
|first1= R.
|last2= Atashpaz-Gargari
|first2= E.
|last3= Lucas
|first3= C.
|title= Colonial competitive algorithm as a tool for Nash equilibrium point achievement
|booktitle= Computational Science and Its Applications–ICCSA
|year= 2008
|pages= 680–695
}}
</ref>
 
<ref name=ica_en_2009_jnl_atashpaz_decentralized_pid_controller_optimal_shrinkage_gershgorin_bands>
{{cite journal
|last1= Atashpaz-Gargari
|first1= E.
|last2= Rajabioun
|first2= R.
|last3= Hashemzadeh
|first3= F.
|last4= R. Salmasi
|first4= F.
|title= A Decentralized PID controller based on Optimal Shrinkage of Gershgorin Bands and PID tuning Using Colonial Competitive Algorithm
|journal= International Journal of Innovative Computing, Information and Control
|year= 2009
|volume=  5
|issue=  10(A)
}}
</ref>
 
<ref name=ica_en_2008_cnf_sepehrirad_recommender_systems>
{{cite conference
|last1= Sepehri Rad
|first1= H.
|last2= Lucas
|first2= C.
|title= Application of Imperialistic Competition Algorithm in recommender systems
|booktitle= In 13th Int'l CSI Computer Conference (CSICC'08)
|year= 2008
}}
</ref>
 
<ref name=ica_en_2009_jnl_khabbazi_minimum_bit_error_rate_beamforming>
{{cite journal
|last1= Khabbazi
|first1= Arash
|last2= Atashpaz-Gargari
|first2= Esmaeil
|last3= Lucas
|first3= Caro
|title= Imperialist competitive algorithm for minimum bit error rate beamforming
|journal= International Journal of Bio-Inspired Computation
|year= 2009
|volume= 1
|issue= 1-2
|pages= 125–133
}}
</ref>
 
<ref name=ica_2010_en_jnl_Alikhani_Evaluation_of_Image_Segmentation_Methods>
{{cite journal
|last1= Alikhani koupaei
|first1= Javad
|last2= Abdechiri
|first2= Marjan
|title= An Optimization Problem for Evaluation of Image Segmentation Methods
|journal= International Journal of Computer and Network Security
|year= 2010
|volume= 2
|issue= 6
}}
</ref>
 
<ref name=ica_2010_en_cnf_Sayadnavard_Wireless_sensor_network_localization>
{{cite conference
|last1= H. Sayadnavard
|first1= Monireh
|last2= T.  Haghighat
|first2= Abolfazl
|last3= Abdechiri
|first3= Marjan
|title= Wireless sensor network localization using Imperialist Competitive Algorithm
|booktitle= 3rd IEEE International Conference on Computer Science and Information Technology
|year= 2010
}}
</ref>
 
<ref name=ica_en_2009_jnl_jolai_pareto_simulated_annealing_offline_scheduling_problem_with_rejection >
{{cite journal
|last1= Jolai
|first1= F.
|last2= Sangari
|first2= M.
|last3= Babaie
|first3= M.
|title= Pareto simulated annealing and colonial competitive algorithm to solve an offline scheduling problem with rejection
|journal= Journal of Engineering Manufacture
|year= 2010
|volume= 224
|issue= 7
|pages= 1119–1131
}}
</ref>
 
<ref name=ica_en_2010_jnl_shokrollahpour_bi_criteria_flowshop>
{{cite journal
|last1= Shokrollahpour
|first1= E.
|last2= Zandieh
|first2= M.
|last3= Dorri
|first3= Behrouz
|title= A novel imperialist competitive algorithm for bi-criteria scheduling of the assembly flowshop problem
|journal= International Journal of Production Research
|year= 2010
}}
</ref>
 
<ref name=ica_en_2010_jnl_nazari_integrated_product_mix_outsourcing>
{{cite journal
|last1= Nazari-Shirkouhi
|first1= S.
|last2= Eivazy
|first2= H.
|last3= Ghodsi
|first3= R.
|last4= Rezaie
|first4= K.
|last5= Atashpaz-Gargari
|first5= E.
|title= Solving the Integrated Product Mix-Outsourcing Problem by a Novel Meta-Heuristic Algorithm: Imperialist Competitive Algorithm
|journal= Expert Systems with Applications
|year= 2010
|volume= 37
|issue= 12
|pages= 7615–7626
}}
</ref>
 
<ref name=ica_2010_en_jnl_Forouharfard_schedule_cross_docking_systems>
{{cite journal
|last1= Forouharfard
|first1= S.
|last2= Zandieh
|first2= M.
|title= An imperialist competitive algorithm to schedule of receiving and shipping trucks in cross-docking systems
|journal= International Journal of Advanced Manufacturing Technology
|year= 2010
}}
</ref>
 
<ref name=ica_2010_en_jnl_Karimi_scheduling_flexible_flow_shops_ica_electromagnetic>
{{cite journal
|last1= Karimi
|first1= N.
|last2= Zandieh
|first2= M.
|title= Group scheduling in flexible flow shops: A hybridised approach of imperialist competitive algorithm and electromagnetic-like mechanism
|journal= International Journal of Production Research
|year= 2010
|volume=
|issue=
|pages=
}}
</ref>
 
<ref name=ica_2010_en_jnl_Bagher_Balancing_of_stochastic_U_Type_assembly_lines>
{{cite journal
|last1= Bagher
|first1= M.
|last2= Zandieh
|first2= M.
|last3= Farsijani
|first3= H.
|title= Balancing of stochastic U-type assembly lines: an imperialist competitive algorithm
|journal= International Journal of Advanced Manufacturing Technology
|year= 2010
|volume=
|issue=
|pages=
}}
</ref>
 
<ref name=ica_2010_en_jnl_Sarayloo_ica_Dynamic_Cell_Formation>
{{cite journal
|last1= Sarayloo
|first1= Fatemeh
|last2= Tavakkoli-Moghaddam
|first2= Reza
|title= Imperialistic Competitive Algorithm for Solving a Dynamic Cell Formation Problem with Production Planning
|journal= Advanced Intelligent Computing Theories and Applications, Lecture Notes in Computer Science
|year= 2010
|volume= 6215
|issue=
|pages= 266–276
}}
</ref>
 
<ref name=ica_en_2008_jnl_oskouyi_material_properties_characterization_sharp_indentation_test>
{{cite journal
|last1= Biabangard-Oskouyi
|first1= A.
|last2= Atashpaz-Gargari
|first2= E.
|last3= Soltani
|first3= N.
|last4= Lucas
|first4= C.
|title= Application of Imperialist Competitive Algorithm for Material Properties Characterization from Sharp Indentation Test
|journal= Int J Eng Simul
|year= 2009
|volume= 10
|issue= 1
|pages=
}}
</ref>
 
<ref name=ica_en_2009_cnf_mahmoudi_ann_weights_optimization>
{{cite conference
|last1= T.
|first1= Maryam
|last2= F.
|first2= Nafiseh
|last3= L.
|first3= Caro
|last4= T.
|first4= Fattaneh
|title= Artificial Neural Network Weights Optimization based on Imperialist Competitive Algorithm
|booktitle= Seventh International Conference on Computer Science and Information Technologies
|year= 2009
}}
</ref>
 
<ref name=ica_en_2008_en_bchtr_rajabioun_nash_equilibrium_point_achievement>
{{cite journal
|last1= Rajabioun
|first1= R.
|last2= Atashpaz-Gargari
|first2= E.
|last3= Lucas
|first3= C.
|title= Colonial Competitive Algorithm as a Tool for Nash Equilibrium Point Achievement
|journal= Lecture Notes in Computer Science (LNCS)
|year= 2008
|pages= 680–695
}}
</ref>
 
<ref name=ica_en_2010_jnl_lucas_linear_induction_motor>
{{cite journal
|last1= Lucas
|first1= C.
|last2= Nasiri-Gheidari
|first2= Z.
|last3= Tootoonchian
|first3= F.
|title= Application of an imperialist competitive algorithm to the design of a linear induction motor
|journal= Energy Conversion and Management
|year= 2010
|volume= 51
|issue= 7
|pages= 1407–1411
}}
</ref>
 
<ref name=ica_2010_en_jnl_omid_phev>
{{cite journal
|last1= Movahhedi
|first1= Omid
|last2= R. Salmasi
|first2= Farzad
|title= Optimal Design of Propulsion System with Adaptive Fuzzy Controller for a PHEV Based on Non-dominated Sorting Genetic and Colonial Competitive Algorithms
|journal= International Review of Automatic Control
|year= 2009
}}
</ref>
 
<ref name=ica_2010_en_jnl_niknam_k_means_clustering>
{{cite journal
|last1= Niknam
|first1= Taher
|last2= Taherian Fard
|first2= Elahe
|last3= Pourjafarian
|first3= Narges
|last4= Rousta
|first4= Alireza
|title= An efficient hybrid algorithm based on modified imperialist competitive algorithm and K-means for data clustering
|journal= Engineering Applications of Artificial Intelligence
|year= 2010
}}
</ref>
 
<ref name=ica_2010_en_jnl_mozafari_thin_interphase>
{{cite journal
|last1= Mozafari
|first1= Hamid
|last2= Abdi
|first2= Behzad
|last3= Ayob
|first3= Amran
|title= Optimization of Transmission Conditions for Thin Interphase Layer Based on Imperialist Competitive Algorithm
|journal= International Journal on Computer Science and Engineering
|year= 2010
|volume= 2
|issue= 7
|pages= 2486–2490
}}
</ref>
}}
 
[[Category:Optimization algorithms and methods]]

Latest revision as of 00:57, 8 January 2015


Definately a single of the far better mini quadcopter out there, especially for this cost. The important downside to this frame is lack of parts, terrible props, and lack of replacement motors.. When you crash.. and if you break it.. You are going to have to start out more than once more with a new frame.. Best to start off off with the F330 frame, child beast motors, and afro 12a esc's.. At least you can get replacement parts for it. Other then that, initial issue you really should get is a set of the 5030 2 blade props, and throw those fragile three blades in the trash.

I have RC rate 1., RC expo .65, Roll and Pitch Price .4. Yaw rate is at .75. You can also attempt this range which look to be pretty universal for several diverse varieties of mini quad among 220-250mm Mini multicopter such as RD230, Blackout mini h quad , DRQ250, QAV250, FPV250. A really handy function of applying Multiwii is connecting your telephone with the flight controller by way of bluetooth. The 'eyes' on the X4 will blink and 'Voila!', your X4 is now calibrated! Pretty quickly you will have a completely balanced small X4 which is good fun to fly - I can now land it on my wifes hand even outdoors as for outside flying, the point goes so high you can only just see it! These had been PVAd collectively prior to epoxying to the frame.

Video top quality-wise, you can anticipate anything close to that of any superior smartphone camera these days, but due to the basic single-axis gimbal, the capture video can be slightly shaky due to even a light bit of wind. In summary, the Phantom two Vision impressed us cheap ugg boots with its ease of use, sophisticated camera attributes, flight efficiency, battery life and fail-protected features. Nearby, Samsung staked claim to the initial curved UHD Television and the world's biggest Ultra HD Tv at 110 inches.

But you are going to need to have it to safe your battery for the bottom of your quadcopter. Ought to you come about to come to be a newbie, then I incredibly propose cheap ugg boots the following quadcopter drones. Mainly because I've located a single on amazon, but I am not particular if it will most likely be suitable for the quadcopter. The AeroSky RC Quadcopter is one particular of the smallest remote handle helicopters we reviewed. The remote manage also has 3 diverse modes from newbie to advanced that will let a brand new flyer an significantly less tough time transitioning into this quadcopter. The Walkera QR Ladybird is a decent mini quadcopter and it actually is just about your regular multi rotor aircraft. You ought to just add only (four) AA Batteries towards the transmitter to be capable to fly this cool quadcopter.

You can do this in flight or anytime the radio is bound to the X4. Be ready for some really serious speed in this mode. To charge your http://tinyurl.com/kecvhhb X4 battery simply plug the incorporated USB charger into the battery, and then plug the adapter into any powered USB port. You will have to have a powered USB port to charge the flight battery. I have had far more exciting flying the Hubsan x4 around the property and outside. The Hubsan is somewhere amongst a really benign counter rotating rotor micro helicopter that is very stable but slow and not maneuverable, and a regular single rotor micro helicopter that is speedy but not really steady. Stability and agility in flight simplify experienced 3D maneuvers like pirouettes, 3D entertaining flips, rolls and move. Colorful searchlight not only tends to make night flight a lot much easier,but also tends to make the helicopter look far more appealing. The frame weighs around 110 grams. This is my 1st quad make.

I been flying rc Helicopter for a couple of years and flying these quad is alot less difficult.I was surpised how stable it is even in wind. Superb little quadcopter, very effortless to set and fly in newbie mode and fully adjustable rate controls in professional mode make it appropriate for 1st time makes use of and nonetheless fantastic exciting for additional knowledgeable flyers. The onboard camera is uncomplicated to use and though the good quality if fairly simple it really is still very impressive addition for such a small quad at this price tag. My battery offers about 5 minutes flight time so an extra battery would be a superior investment. Bought this quadcopter since I currently had the hubsan x4 v2 and loved it and an individual purchased me this 1. After the flight in the fog the subsequent video I filmed from the quad was quite blurred and un focused. The camera is incredibly difficult to clean as it is that tiny, I attempted to clean it but the video high-quality did not boost. And I can bet my soul that Cameron Diaz has in no way had a TX-X4 quadcopter named following her.

But I consider I am going to make it by myself since I don't have to have so lots of functions for a mini quadcopter. I have to apply PID manage on this mini quadcopter when it's crucial, to instantaneously adjust the balance of rotating speed of each motor. Die Motoren sind recht kr�ftig f�r den X230 und ziehen auch gut.

Terry's guide is discount ugg boots terrific due to the fact it does not dump you into the deep finish he makes sensible suggestions on how to get started with RC quads and the hurdles lots of men and women don't feel about when buying without having prior expertise. I wanted to follow his assistance and do some testing of my own, working with his selection of a micro quad as a means to get started. Terry place me in touch with Heli-Max, the makers of the 1SQ micro quad, and they were generous enough to send a unit out for testing. I've been flying it for about a month now, and wanted to share that expertise of getting a RC quad novice. We had a lot of exciting with with the AR.Drone, but it's a fundamentally cheap ugg boots unique type of RC aircraft as a thing like the Heli-Max 1SQ of DJI Phantom. I got the RTF (Ready to Fly) V-Cam model, which indicates it incorporated a fundamental 2.4GHz remote control transmitter and an onboard camera for taking pictures and video. Replacement blades are $7.50 for a full set on Amazon. Then there's the onboard camera feature.