Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform compl...
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Several path-planning algorithms for mobile robots have been introduced. Proper architectures for mobile robots to implement the path-planning algorithms are also of interest. If the mobile robots are to perform complicated tasks including complex sensing and planning operations and have accepted performance, must be autonomous: capable of acquiring information and performing tasks without programmatic intervention. In this paper we employ a layered architecture for mobile robots to perform our previously introduced cellular automata based path planning technique. It employs an abstraction approach which makes the complexity manageable. The architecture has an important feature which is its internal artifacts; it has some beliefs about the world and these beliefs are represented in artifacts and most actions are planned and performed with respect to these artifacts
Recently, a capsule endoscope has been developed to observe images from the inside of intestine. Such a capsule endoscope does not have locomotion or hold method. To get proper diagnosis and medication, it is necessar...
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ISBN:
(纸本)0889865787
Recently, a capsule endoscope has been developed to observe images from the inside of intestine. Such a capsule endoscope does not have locomotion or hold method. To get proper diagnosis and medication, it is necessary to control the capsule from outside to guide locomotion. The designed and implemented capsule has feasibility to contract the small intestine by electrical stimuli through the electrodes. When the small intestine is contracted by electrical stimuli, the capsule can move to opposite direction, which means the capsule can go up and down in the small intestine. The implemented stimuli capsule always monitors excessive energy transmission and automatically shuts down the electrical stimuli to make it more secure. Additionally, the stimuli capsule goes on standby mode to save the battery, and it can be reset by comparator circuit which is connected to stimulus electrodes. To verify the design and implement the stimuli capsule, in-vitro experiments were performed with pig's small intestine.
Electrogastrography (EGG) is a significant reference of the myoelectric activity of the gastrointestinal tract and indicates whether it has a disease or not. There have been numerous studies of the myoelectric activit...
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ISBN:
(纸本)0889865787
Electrogastrography (EGG) is a significant reference of the myoelectric activity of the gastrointestinal tract and indicates whether it has a disease or not. There have been numerous studies of the myoelectric activity in a stomach, but only a few studies of the intestines because of the difficulty of measurement in the intestines. Recently, the technology of the biotelemetry capsule for measurement of internal information in the human digestive tract has been developed. In the current study, an EGG telemetry system using the developed biotelemetry technology was designed and implemented for measuring EGG in intestines. The EGG capsule converts the acquired EGG value to digital data, which is transmitted from the capsule to the external receiver. The performance of the telemetry capsule for the EGG monitoring in the gastrointestinal tract was verified by in-vitro animal experiments. From the experiment, it was verified that the EGG telemetry capsule can measures a slow wave in intestines.
Lack of sufficient flexibility to deal with actual noisy data in data fusion methods is the main concern in this paper. This deficiency comes from two major reasons. Firstly, infusion methods, all of the collected dat...
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Lack of sufficient flexibility to deal with actual noisy data in data fusion methods is the main concern in this paper. This deficiency comes from two major reasons. Firstly, infusion methods, all of the collected data are considered useful. Secondly, often some presumed sensor models are used in the fusion process, which do not necessarily match to the true models. As a general solution to address the aforementioned shortcomings, a novel adaptive data fusion structure (ADFS) is proposed. In ADFS, incorrect data are eliminated; then the remainders are fused, and finally the sensor models are learned by using the final fusion results as internal feedbacks. In particular, as more misleading data are eliminated, more accurate sensor models emerge. By employing ADFS to localize a simulated mobile robot in a highly noisy environment, the results prove its superiority, especially compared to the conventional entropy based methods of localization.
In this paper, a new approach to enlarge the domain of attraction of a nonlinear affine system based on Zubov theorem is suggested. The affine systems which are studied in this paper some times have some constraints t...
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In this paper, a new approach to enlarge the domain of attraction of a nonlinear affine system based on Zubov theorem is suggested. The affine systems which are studied in this paper some times have some constraints that coping with them are difficult. The proposed approach may alleviate these difficulties by introducing an extended controller design methodology. The controller can extend the domain of attraction as an n-dimensional ellipsoid in a way that the diameters of ellipsoid, may be used as the tuning factors for shaping and enlarging it as much as possible. In this approach, the ratios of diameters are not crucial. In other words, it is possible to stretch the domain of attraction along some directions and compress it along the others. The simulation results on the Van der Pole system and two case studies, namely, a vehicle dynamics and an inverted pendulum show the efficiency of the method
In this paper, a new approach for image compression is presented. The enhanced SOM algorithm applies a vigilance parameter in order to test if the maximum value of all activation functions in each training step exceed...
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In this paper, a new approach for image compression is presented. The enhanced SOM algorithm applies a vigilance parameter in order to test if the maximum value of all activation functions in each training step exceeds the minimum threshold. If vigilance test is not passed, a new cluster will be added to the network; else the winner cluster will be updated. Therefore, the network could be extendable due to pattern distribution. The proposed approach is compared with ART1. The performance of enhanced SOM algorithm does not depend on the input presentation order. As observed through simulations, the new algorithm with vigilance parameter reduces the computational complexity, and presents better quality compared with Kohonen's SOM.
In this paper, an analytical comparison is done between dynamic programming and reinforcement learning methods in dynamic two-player games. The emphasis is on the large number of states and actions available for each ...
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In this paper, an analytical comparison is done between dynamic programming and reinforcement learning methods in dynamic two-player games. The emphasis is on the large number of states and actions available for each player and different conflictive optimization objectives of these games that make them complicated in modeling and analysis. Optimization and decision making is done through quantifying a modified Q-learning algorithm. By this method, it is shown that the information processing in large scale-long stage games will take shorter times and will result in lower decision costs whereas dynamic programming methods cannot handle them across long time-horizons
This paper is based our previous work on model predictive control (MPC) of switched reluctance motor (SRM). A local linear neuro-fuzzy model is used to model SRM. Then a MPC schema is devised considering an appropriat...
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This paper is based our previous work on model predictive control (MPC) of switched reluctance motor (SRM). A local linear neuro-fuzzy model is used to model SRM. Then a MPC schema is devised considering an appropriate energy term in the objective function during optimization phase. Commutation occurs naturally as an outcome of the predictive control design process, not as an extra step added to the control policy. In this paper, an adaptive -time varying- objective function is proposed to better cope with nonlinear nature of the SRM. A fast and easy algorithm is devised to adjust the weights in the objective function. This new algorithm allow for an auto-tune MPC approach to SRM control. From a computational view point, we use locally linear model predictive control that with a quadratic cost and linear constraints reduces to a simple quadratic programming, which can be solved very fast in a closed form. Simulation studies justify applicability of our proposed method and algorithm to SRM applications
This paper presents a new approach to gating in target tracking. Here, the gate is defined as the region in which the tracked target is expected to exist. The observation vector in the gate is used for tracking. In tr...
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This paper presents a new approach to gating in target tracking. Here, the gate is defined as the region in which the tracked target is expected to exist. The observation vector in the gate is used for tracking. In tracking in a two-dimensional plane, various shapes can be conceived as a gate, including a rectangle, circle, and ellipse. Elliptical gate is optimal for linear Gaussian modeled systems and suboptimal for non-Gaussian systems. This paper introduces mixture weighted gating by generalizing Kalman filter to non-Gaussian linear systems. This non-elliptical gate is applied in target tracking and its advantage respect to elliptical gate is shown
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