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Optimal control of Class of Non-linear Plants Using Artificial Immune Systems: Application of the Clonal Selection Algorithm

Optimal Control of Class of Non-linear Plants Using Artifici...

引用

ieee International symposium on Intelligent control (ISIC)

作者： S.A. Panimadai Ramaswamy G.K. Venayagamoorthy S.N. Balakrishnan Department of Electrical and Computer Engineering University of Missouri Rolla MO USA Real-Time Power and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Missouri Rolla MO USA Department of Mechanical AeroSpace and Engineering Mechanics University of Missouri Rolla MO USA

The function of natural immune system is to protect the living organisms against invaders/pathogens. Artificial Immune System (AIS) is a computational intelligence paradigm inspired by the natural immune system. Diverse engineering problems have been solved in the recent past using AIS. Clonal selection is one of the few algorithms that belong to the family of AIS techniques. Clonal selection algorithm is the computational implementation of the clonal selection principle. The process of affinity maturation of the immune system is explicitly incorporated in this algorithm. This paper presents the application of AIS for the optimal control of a class of non-linear plants which are affine in control. The clonal selection algorithm is adapted for optimal control. A new mutation operator that operates on real values and one that aids in fast convergence is developed in this paper. AIS is used to obtain constant coefficient Kalman gain matrices. The validation and evaluation of the results thus obtained are carried out by comparing with standard and the widely used State Dependent Algebraic Riccati Equation (SDARE) method for the non-linear plants. In case of non-linear systems with hard state constraints, the SDARE formulation requires the use of mathematically involved expressions to incorporate these state constraints. However, the modified clonal selection algorithm developed in this paper has been used with hardly any changes to incorporate the hard state constraints and obtain the Kalman gain matrix.

关键词： Optimal control Artificial immune systems Immune system Kalman filters Riccati equations Protection Organisms Pathogens computational intelligence Systems engineering and theory

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Fuzzy Prolog as Cognitive Layer in RoboCupSoccer

Fuzzy Prolog as Cognitive Layer in RoboCupSoccer

引用

ieee symposium on computational intelligence and Games, CIG

作者： Susana Munoz-Hernandez Wiratna Sari Wiguna Department of Languages and Information Systems and Software Engineering Technical University Madrid Spain School of Computer Science Technical University Madrid Spain

RoboCupSoccer domain has several leagues which varies in the rule of play such as specification of players, number of players, field size, and time length. Nevertheless, each RoboCup league is a variant of a soccer league and therefore they are based on some basic rules of soccer. A layered design of agents system presented in the work of Garcia et al. (2004) shows a modular approach to build control for a team of robots participating in RoboCupSoccer E-League. Based on this design, we propose a generalized architecture offering flexibility to switch between leagues and programming language while maintaining Prolog as cognitive layer. Prolog is a very convenient tool to design strategies for soccer players using simple rules close to human reasoning. Sometimes this reasoning needs to deal with uncertainty, fuzziness or incompleteness of the information. In these cases it is useful Fuzzy Prolog (Guadarrama et al., 2004), (Munoz-Hernandez and Vaucheret, 2005), (Munoz-Hernandez and Gomez-Perez, 2005), (Munoz-Hernandez and Vaucheret, 2006). In this paper we propose to use a combination of Prolog (that is crisp) and Fuzzy Prolog to implement the cognitive layer in RoboCupSoccer, which has the advantage of incorporating as conventional logic as fuzzy logic in this layer. A prototype of a team based on this architecture has been build for RoboCup soccer simulator, and we show that this approach provides a convenient way of incorporating a team strategy in high level (human-like) manner, where technical details are encapsulated and fuzzy information is represented

关键词： Robot sensing systems Fuzzy logic Intelligent robots Robot kinematics Logic programming Cognitive robotics Humans Uncertainty Fuzzy reasoning computational modeling

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Co-ordination in Intelligent Ant-Based Application Service Mapping in Grid Environments

Co-ordination in Intelligent Ant-Based Application Service M...

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ieee Swarm intelligence symposium, SIS

作者： Sharath Babu Musunoori Geir Horn SIMULA Research Laboratory Lysaker Norway SINTEF ICT Oslo Norway

A key problem of component-based grid application configuration is to map services onto the execution nodes of the grid environment such that all services of the application satisfy some minimum quality requirements. This problem is known to be NP-hard. This paper presents two extensions to our previous ant-based application service mapping heuristic, in order to establish some coordination among the working agents in a decentralized environment and improve its convergence rate. The first extension proposes to use gatekeepers that learn to guide the movement of intelligent foraging ants. The second extension is a coordination mechanism to allow an ant to draw on the learned knowledge of its co-workers. The simulation evaluation of the proposed extensions shows that inclusion of scaled sleep time further improves the convergence rates while the gatekeepers seem to have a negative effect.

关键词： Grid computing Learning automata Stochastic processes Convergence Resource management Particle swarm optimization control systems Decision making Ecosystems computational modeling

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On Improved MRI Segmentation Using Hierarchical computational intelligence Techniques and Textural Analysis of the Discrete Wavelet Transform Domain

On Improved MRI Segmentation Using Hierarchical Computationa...

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ieee International symposium on Intelligent Signal Processing

作者： D. A. Karras Chalkis Institute of Technology Automation Department Hellenic Open University Athens Greece

ISBN: (纸本)1424408296;97

This paper investigates a novel feature extraction approach to MRI segmentation based on identifying the critical image edges by using textural (cooccurrence matrices) analysis of the discrete wavelet transform (DWT) domain. Furthermore, the presented approach is based on formulating the problem as a two-stage unsupervised classification task using a modified Kohonen's self organizing feature map (SOFM) along with independent component analysis (ICA). The main goal of such a research effort is to better identify abrupt textural image changes without increasing the presence of noise in the resulting image. The suggested methodology is based on novel discrete wavelet descriptors involving the discrete k-level 2-D wavelet transform and cooccurrence matrices analysis applied to sliding windows raster scanning the original image. The proposed two-stage classification scheme applied to such textural wavelet descriptors and using a modified vector quantizing self-organizing feature map (SOFM) and ICA analysis is compared with a corresponding two-stage scheme involving PCA analysis and the widely used SOFM, trained with Kohonen's algorithm. The feasibility of this novel two-stage proposed approach is studied by applying it to the edge structure segmentation problem of brain slice MRI images. The promising results presented in the experimental study illustrate a performance favourably compared, also, to that of traditional Sobel edge detectors supported by usual contour tracing methods.

关键词： Discrete wavelet transforms Magnetic resonance imaging computational intelligence Wavelet analysis Wavelet domain Independent component analysis Image texture analysis Image segmentation Image edge detection Image analysis

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Teleoperation System of the Internet-based Omnidirectional Mobile Robot with A Mounted Manipulator

Teleoperation System of the Internet-based Omnidirectional M...

引用

ieee International Conference on Mechatronics and automation

作者： Dawei Wang Jianqiang Yi Dongbin Zhao Guosheng Yang Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China Institute of Advanced Control and Intelligent Information Processing College of Computer and Informaion Engineering Henan University Kaifeng China

A platform of the Internet-based teleoperation system with an omni-directional mobile robot which has a five DOFs robot arm is constructed. Remote control of the robot through the Internet is implemented. The system is featured as low-cost and user interface friendly: remote users can control the robot through the Internet just by a client program in a general computer. The client computer can receive the live video and environment information measured by sensors. With the help of the remote video and the local simulation, users can easily communicate with the robot. Different modules are proposed and the implementation method of the system is presented. Related experiments are conducted to test the validity of the proposed system.

关键词： Internet Mobile robots Manipulators Robot sensing systems Robot control User interfaces control systems Computer interfaces computational modeling System testing

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On Automatic and Dynamic Camera Calibration based on Traffic Visual Surveillance

On Automatic and Dynamic Camera Calibration based on Traffic...

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ieee symposium on Intelligent Vehicle

作者： Yuantao Li Fenghua Zhu Yunfeng Ai Fei-Yue Wang Key Laboratory of Complex Systems and Intelligence Science Institute of Automation Chinese Academy and Sciences Beijing China College of Computing & Communication Engineering Chinese Academy of Sciences Beijing China Department of Systems and Industrial Engineering University of Arizona Tucson Tucson AZ USA Key Laboratory for Complex Systems and Intelligence Science Chinese Academy and Sciences Beijing China

This paper presents a novel automatic and dynamic camera calibration algorithm based on traffic visual surveillance. The algorithm can automatically calibrate the intrinsic and extrinsic parameters of camera, and offer enough guarantee to extract traffic real-time parameters. This paper firstly indicates the significance of applying automatic and dynamic calibration algorithm to intelligent transportation system, then establishes a mathematical model of calibration parameters between camera image and actual road. The algorithm is established from three view points, which are description, flow chart and algorithm description. Afterward this paper describes the experimental method and result based on this novel algorithm. Finally this paper indicates wide application foreground of this algorithm in intelligent transportation system.

关键词： Calibration Surveillance Vehicle dynamics Traffic control Intelligent transportation systems Smart cameras Roads Robot vision systems Educational institutions Layout

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Scaffolding Language Emergence Using the Autotelic Principle

Scaffolding Language Emergence Using the Autotelic Principle

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ieee symposium on Artificial Life, ALIFE

作者： Luc Steels Pieter Wellens Sony Computer Science Laboratories Inc. Paris France VUB AI-Laboratory Brussels Belgium

The paper focuses on the problem how a community of distributed agents may autonomously invent and coordinate lexicons and grammars. Although our earlier experiments have shown that a communication system can indeed emerge in a socio-cultural dynamics, it relies on the control of complexity by the experimenter, so that agents first acquire words, then simple constructions, and then more complex ones. This paper addresses the question how agents could themselves regulate the complexity both of the mechanisms they bring to bear to the language task and on the semantic complexity of what they want to express. We make use of the autotelic principle, coming from psychology. It requires monitoring challenge and skill (based on actual performance) and maintaining a 'flow' regime balancing the two. We show in computational experiments that the autotelic principle is able to explain autonomous scaffolding towards greater complexity in the emergence of language.

关键词： Laboratories Communication system control Peer to peer computing Feedback Books Recruitment Computer science Artificial intelligence Communication systems control systems

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Fuzzy self-tuning of parameters online for human simulated intelligent controller

Fuzzy self-tuning of parameters online for human simulated i...

引用

ieee International Conference on Systems, Man and Cybernetics

作者： Zushu Li Dongwu Liang Guiqiang Chen Institute of Intelligent Automation Chongqing University Chongqing China Institute of Artificial Intelligence System Chongqing Institute of Technology Chongqing China

Using fuzzy logic rules, a self-tuning structure for the self-tuning level of a human simulated intelligent controller (HSIC) has been designed. This structure has fuzzy self-tuning abilities in the swing-up control of a cart-double pendulum system. It efficiently accomplishes the online self-tuning of the control parameters of a HSIC with hierarchical and multi-mode control structure. The computer simulation and real-time experiments of the swing-up control of a cart-double pendulum system show that the online fuzzy self-tuning of the control parameters markedly enhances the robustness and adaptability of the HSIC.

关键词： Fuzzy control Humans Fuzzy systems Fuzzy logic computational modeling Intelligent structures control systems Computer simulation Real time systems Robust control

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Implementation of Expressive Performance Rules on the WF-4RIII by modeling a professional flutist performance using NN

Implementation of Expressive Performance Rules on the WF-4RI...

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ieee International Conference on Robotics and automation (ICRA)

作者： Jorge Solis Kei Suefuji Koichi Taniguchi Takeshi Ninomiya Maki Maeda Atsuo Takanishi Mechanical Engineering Department Waseda University Shinjuku Tokyo Japan Graduate School of Science and Engineering Waseda University Japan

In this paper, the methodology for automatically generating an expressive performance on the anthropomorphic flutist robot is detailed. A feed-forward network trained with the error back-propagation algorithm was implemented to model the performance's expressiveness of a professional flutist. In particular, the note duration and vibrato were considered as performance rules (sources of variation) to enhance the robot's performance expressiveness. From the mechanical point of view, the vibrato and lung systems were re-designed to effectively control the proposed music performance rules. An experimental setup was proposed to verify the effectiveness of generating a new score with expressiveness from a model created based on the performance of a professional flutist. As a result, the flutist robot was able of automatically producing an expressive performance similar to the human one from a nominal score.

关键词： Neural networks Robot kinematics Humans Robotics and automation Music Performance analysis computational modeling Instruments Artificial intelligence Anthropomorphism

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Broadband UHF Antenna with controlled Current Distribution for Radiocommunication Systems

Broadband UHF Antenna with Controlled Current Distribution f...

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ieee International symposium on Electromagnetic Compatibility and Electromagnetic Ecology

作者： G. Chavka Technical University of Bialystok Poland

This paper presents results of the computer-aided design of a new broadband monopole UHF antenna with controlled current distribution (BACCD) for different radiocommunication systems. General structure, computer model and construction of the antenna BACCD are proposed. Optimal broadband matching of the antenna is fulfilled in the work. A method of computer electromagnetic simulation of the whole antenna is described. Frequency characteristics, electromagnetic radiation, near electromagnetic field and current distributions along the antenna BACCD for wide frequency band are calculated in the work.

关键词： Broadband antennas UHF antennas Radio control control systems Current distribution Electromagnetic radiation Frequency Design automation computational modeling Computer simulation

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