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A hierarchical fuzzy steering controller for mobile robots

A hierarchical fuzzy steering controller for mobile robots

引用

ieee international conference on Computational Intelligence for Measurement systems and Applications (CIMSA)

作者： M. Teiner I. Rojas K. Goser O. Valenzuela Department of Electrical Engineering-Microelectronics University of Dortmund Germany Department of Computer Architecture and Computer Technology University of Granada Spain Department of Applied Mathemataic University of Granada Spain

This paper describes a hierarchical fuzzy steering controller approach to local navigation of an autonomous sensor equipped mobile robots. Two goals are considered simultaneously: obstacle avoidance, so that the robot is piloted safely in an unknown environment; and reaching an target point. A two-step approach to build a fuzzy system is presented. In the first stage signals are processed by conventional methods to get an output vector indicating the direction and the closeness of obstacles around. Stage two is a basic task steering controller, that is based on fuzzy logic. The modular structure of the first stage allows modifications on the robot. So there is no need for a redesign of the controller's architecture, when the controller is used in different applications. Adaptation to a new task is done simply by adjusting the controller to other conditions. Then the robustness of this controller is demonstrated in simulations by means of erroneous signals of the sensor modules. Finally the controller is used in combination with another basic task controller for 'Reaching an Aiming Point'. In a higher level a controller ascertains priority of the controllers and manages the resulting steering commands.

关键词： Fuzzy control Robot control Mobile robots Navigation sensor phenomena and characterization Robot sensing systems Fuzzy systems Signal processing Fuzzy logic Robust control

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Embedded e-diagnostic for distributed industrial machinery

Embedded e-diagnostic for distributed industrial machinery

引用

ieee international conference on Computational Intelligence for Measurement systems and Applications (CIMSA)

作者： T.M.J. Hui D.J. Brown B. Haynes Xunxian Wang Intelligent Systems & Diagnostic Research Group University of Portsmouth Portsmouth UK

Industrial process machine failure often causes severe financial implications. This is compounded by the lack of availability of experts and the complications of getting them to site. One solution is to give the expert access to the machine remotely with the addition of an Artificial Intelligence (AI) based diagnostics software to assist with the decision making process. Our research is based on such a system, which combines modern communications with intelligent diagnostics software. Accessibility to process machines can now be global with the promise of predictability to the diagnosis. It is felt the importance of this research work cannot be overstated with the constantly moving worldwide manufacturing base and the real situation of the machine designers being based in a different country to their customer. The most vulnerable areas of a machine are its parts that consist of electro-mechanical actuation. The author utilises conventional Newtonian physics and differential calculus to model these and an AI technique of fault prediction and detection.

关键词： Machinery Artificial intelligence Decision making Machine intelligence Communication system software Manufacturing Physics Calculus Predictive models Fault detection

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Feature object extraction - a fuzzy logic approach for evidence accrual in the Level 1 Fusion classification problem

Feature object extraction - a fuzzy logic approach for evide...

引用

ieee international conference on Computational Intelligence for Measurement systems and Applications (CIMSA)

作者： S. Stubberud R. Pudwill ORINCON Defense San Diego CA USA

Classification is an important part of the Level 1 Fusion problem. It provides necessary information to the user to make decisions about the object in question. In the military problem, this decision can be the difference between prosecution of a target and declaration as a noncombatant. A number of approaches use different sources of information address classification. Many of these techniques are probabilistic. Some are linguistic interpretations by expert analysis. These classifiers can provide different views of the same object. The key is to combine these disparate pieces of information, each with different levels of quality and/or confidence. We propose a technique to combine these various classifiers using the concept of evidence accrual. Information can affirm a class' hypothesis, refute it, or have no bearing upon it. Also, each source of evidence has a degree of quality or uncertainty about it. Finally, the sources may be represented as numeric or nonnumeric information. To address these issues, we utilized a set of decoupled fuzzy Kalman filters. This bank of filters, similar in nature to first-order observers, estimates the degree of evidence that each known class achieves. The paper outlines the development of our approach, its implementation to emulate a Bayesian classifier, and a set of examples.

关键词： Feature extraction Fuzzy logic Bayesian methods Taxonomy Information resources sensor fusion sensor systems Fuses Manuals Humans

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Video Saurus system: movement evaluation by a genetic algorithm

Video Saurus system: movement evaluation by a genetic algori...

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ieee international conference on Computational Intelligence for Measurement systems and Applications (CIMSA)

作者： G. Mastronardi V. Bevilacqua POLITECNICO di Ban DEE Bani Italy

In this paper we have addressed the problem of adopting in a combined way a genetic algorithm and the Hough transform for implementing an auto tracking method in a video conference system. By applying this method we have been able to track an object that moves slowly following quite parallel trajectories. The proposed algorithm considers just the shape of the object to be tracked and a priori known as a template, without taking into account other several characteristics of images like colour or texture. Because the implementation of Hough transform is a problem of maximising a function with particular constraints, and each run of evaluating Hough transform is time consuming, in this paper we have adopted a particular genetic algorithm to evaluate the rectangular region in which evaluate the Hough transform. The genetic algorithm used elitistic strategy, fitness sharing, mating restriction, adaptive rate of mutation and adaptive rate of cross-over with a double cross point. Moreover, in this paper, since the evaluation of Hough transform is very time consuming, we have addressed the strategy of dividing the whole scene in different shorter window in order to partition the evaluating load on parallel DSP.

关键词： Genetic algorithms Shape Image edge detection Filters Body sensor networks Videoconference Genetic mutations Layout Digital signal processing Image segmentation

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Modular composition and verification of transaction processing protocols

Modular composition and verification of transaction processi...

引用

23rd international conference on distributed computing systems Workshops

作者： Janarthanan, V Sinha, P Concordia Univ Dept Elect & Comp Engn Montreal PQ H3G 1M8 Canada

ISBN: (纸本)0769519202

Establishing the correctness of reliable distributed protocols supporting critical applications necessitates modular/compositional approaches to tackle the inherent complexity of these protocols. Efforts involved in the specification and verification of these reliable distributed protocols can be considerably reduced if the protocol is composed utilizing smaller components (building-blocks) possessing individual functionalities that are integral parts of the overall protocol operation. In this paper we present the modular composition of a transaction processing protocol, namely the three-phase commit (3PC) protocol utilizing concepts of category theory. Specifically, we illustrate how the overall global properties of the protocol can be proved by utilizing constructs of local sub-properties of the inherent building blocks of the 3PC protocol.

关键词： distributed computer systems

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Parallel execution of relational algebra operator under distributed database systems

Parallel execution of relational algebra operator under dist...

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3rd international conference on Information Technology: Coding and computing (ITCC 2002)

作者： Sitoliang, B Inst Technol Dept Informat Engn Bandung 40132 W Java Indonesia

ISBN: (纸本)076951507X

Parallel execution of relational algebra operators can be performed on single computer, multi-programming or multi-tasking operating systems. Doing so, time response can be improved, compared to sequential execution, using concepts of: free operators, set of five operators, and degree of freedom of operators. Parallel execution of relational algebra operators introduced, using the concepts above, can be adapted on the distributed database system environment, where each free operator executed in one specific location I computer (relatively to other free operator of transaction). Consequently, improvement of performance depend on : number of free operators of transaction, number of set of free operators, degree of freedom of operators, and data location relatively to the location where the operator executed.

关键词： distributed database systems parallel processing query relational algebra operator (Relational operator)/(Operator) relational database model

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Building topology-aware overlays using global soft-state

Building topology-aware overlays using global soft-state

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23rd international conference on distributed computing systems Workshops

作者： Xu, ZC Tang, CQ Zheng, Z Hewlett Packard Labs Palo Alto CA 94304 USA

ISBN: (纸本)0769519202

distributed hash table (DHT) based overlay networks offer an administration-free and fault-tolerant storage space that maps "keys" to "values". For these systems to function efficiently, their structures mustfit that of the underlying network. Existing techniques for discovering network proximity information, such as landmark clustering and expanding-ring search are either inaccurate or expensive. The lack of global proximity information in overlay construction and maintenance can result in bad proximity approximation or excessive communication. To address these problems, we propose the following: (1) Combining landmark clustering and round-trip time (RTT) measurements to generate proximity information, achieving both efficiency and accuracy. (2) Controlled placement of global proximity information on the system itself as soft-state, such that nodes can independently access relevant information efficiently. (3) Publish/subscribe functionality that allows nodes to subscribe to the relevant soft-state and get notified as the state changes necessitate overlay restructuring.

关键词： distributed computer systems

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Dispatching multiple mobile agents in parallel for visiting e-shops 3

引用

3rd international conference on Mobile Data Management (MDM 2002)

作者： Wang, Y Natl Univ Singapore Sch Comp Dept Comp Sci Singapore 117543 Singapore

ISBN: (纸本)0769515002

The mobile agent approach is suitable for deploying large-scale parallel processing over distributed hosts. However, if the number of mobile agents is very, large and the dispatch is processed in a serial way, it can become a bottleneck that impacts the efficiency, as a whole. In this paper, we first briefly present a mobile agent based framework for Internet marketplaces enabling parallel processing. Then we present and discuss several hierarchical dispatch models where the dispatch of multiple mobile agents can be processed in parallel over different hosts. In the best case, the time complexity for dispatching n mobile agents is O(log:n). Discussions of these models are taken on the basis of theoretical analysis and experiments.

关键词： Computer science Concurrent computing Dispatching distributed computing Electronic commerce Internet Large-scale systems Mobile agents Parallel processing Performance analysis

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A content-based resource location mechanism in PeerIS 3

A content-based resource location mechanism in PeerIS

引用

3rd international conference on Web Information systems Engineering, WISE 2002

作者： Ling, Bo Lu, Zhiguo Ng, Wee Siong Ooil, BengChin Tan, Kian-Lee Zhou, Aoying Department of Computer Science and Engineering Fudan University Shanghai200433 China Department of Computer Science National University of Singapore 3 Science Drive 2 Singapore117543 Singapore

ISBN: (纸本)0769517668

With the flurry of research on P2P computing, many P2P technical challenges have emerged, one of which is how to efficiently locate desired resources. Advances have been made in this hot research field, where the pioneers are Pastry, CAN, Chord, and Tapestry. By using the functionality of a distributed hash table, they have achieved fair effectiveness. However they have many common limitations, such as ignoring the autonomous nature of peers, and just supporting weakly semantic functions. According to reality in the distributed network, we propose a content-based location mechanism, which not only keeps the autonomy of peers, but also supports approximate query and finer granularity of content sharing. Furthermore, this mechanism also facilitates P2P system to evolve dynamically. We have also used PeerIS, a P2P based information system used to verify it and obtained satisfactory results. © 2002 ieee.

关键词： Semantics

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Electro-optic E-field sensor using an optical coherence modulator 3

Electro-optic E-field sensor using an optical coherence modu...

引用

3rd international conference on Microwave and Millimeter Wave Technology, ICMMT 2002

作者： Rodríguez-Asomoza, J. Departamento de Ingeniería Electrónica Exhacienda Sta. Catarina Mártir S/N PueblaPue. Mexico

ISBN: (纸本)078037486X

An electric field sensor array using optical coherence modulation of light is proposed here. The system consist of lithium niobate (LiNbO3) optical coherence modulator acting as electric field sensor. The main characteristics of coherence-modulated transmissions include the need to use broad-band optical sources and integrated optics lithium niobate electro-optic retarders. Coherence-modulated systems have been studied for the last few years as new potential high-speed optical links useful for point-to-point, local area networks, and bidirectional transmissions, at optical wavelengths around 1300 nm. This paper describes the experimental system and characterization of the electro-optic sensor for detection of sinusoidal electric field. © 2002 ieee.

关键词： Electric fields

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