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Self-learning Particle Swarm Optimization Based on Environmental Feedback

Self-learning Particle Swarm Optimization Based on Environme...

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International Conference on Innovative Computing, Information and Control (ICICIC)

作者： Xingjuan Cai Zhihua Cui Jianchao Zeng Ying Tan Division of system simulation and computer application Taiyuan University of Science and Technology Shanxi China State Key Laboratory for Manufacturing Systems Engineering Xi''an Jiaotong University Xi'an China

Particle swarm optimization (PSO) simulates the behaviors of birds ocking and poundsh schooling. However, its biological background does not concern the environmental affection. Inspired by the interaction between environment and individuals, a new version - self-learning particle swarm optimization based on environmental feedback (SL-PSO), is proposed, in which two self-learning strategies are designed so that each particle adjusts its moving direction according to the feedback information from the environment. Furthermore, a mutation operator is introduced to avoid premature convergence phenomenon. Simulation results show the proposed algorithm is effective and efpoundcient.

关键词： Particle swarm optimization Convergence Birds Biological system modeling Computational modeling computer simulation Educational institutions Genetic mutations State feedback computer applications

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Improved H.264 GOP-level bit allocation by incremental PID algorithm

Improved H.264 GOP-level bit allocation by incremental PID a...

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2007 IET Conference on Wireless, Mobile and Sensor Networks (CCWMSN07)

作者： Liquan Shen Zhaoyang Zhang Ying Li Zhi Liu Key Lab. of Advanced Display and System Application Ministry of Education Shanghai Univ. 200072 China School of Computer Engineering and Science Shanghai University Shanghai China

Since the current rate control schemes in H.264 do not present the capability of efficient GOP-level bit allocation, the video quality varies greatly for sequences with the scene change or the scene complexity varying from one GOP to another. To overcome the limitation, we propose a novel rate control scheme based on incremental PID algorithm. The incremental PID algorithm is introduced to minimize video quality variations in GOP-level bit allocation. Extensive simulation results show that the proposed rate control scheme, without expensive computational complexity added, decreases the average video quality variations by 15.07%.

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CFD Researches on the e-AIRS : Korean e-science Aerospace Research System

CFD Researches on the e-AIRS : Korean e-Science Aerospace Re...

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International Conference on Convergence Information Technology

作者： Soon-Heum Ko Jin-ho Kim Jae Wan Ahn Jun Sok Yi Chongam Kim Yoonhee Kim Kum Won Cho Dong Hoon Choi School of Mechanical and Aerospace Engineering Seoul National University Korea Dept. of Computer Science Sookmyung Women's University Korea KIST! Supercomputing Center e-Science Application Research Team Korea

ISBN: (纸本)9780769530383

The e-AIRS[1,2], an abbreviation of 'aerospace integrated research system', is a virtual organization designed to support the aerospace engineering processes on the e-science environment. As the first step toward the virtual aerospace engineering organization, the e-AIRS targets to give full supports to aerodynamic research processes. Currently, the e-AIRS can handle both the computational and experimental aerodynamic researches on the e-science infrastructure, including cooperative works of computations and experiments. Of those supports on the e-AIRS, the present paper focuses on describing computing services and, CFD (computational fluid dynamics) modules on the system will be expressed in detail.

关键词： Computational fluid dynamics Aerospace engineering Aerodynamics Grid computing Collaboration application software Visualization Collaborative software Portals Information technology

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A study of dynamics and communication mechanism for ICPF actuating tortoise-like micro-robot

A study of dynamics and communication mechanism for ICPF act...

引用

IEEE International Conference on Robotics and Biomimetics

作者： Rong Nie Lin Nie Desheng Li Department of computer science and application Zhengzhou Institute of Aeronautical Industry Management Zhengzhou Henan China School of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology Beijing China

ISBN: (纸本)9781424417612;1424417619

In the paper, our preliminary work in using ICPF to develop a novel tortoise-like flexible micro-robot with four legs and one tail is reported, which can crawl and swim underwater. ICPF is the abbreviation of ionic conducting polymer gel film which is a kind of smart film and can give large and fast bending displacement in the presence of a low applied voltage in wet condition. For controlling and analyzing easily the robot, we establish the micro-robot's tail dynamic model by applying pseudo-rigid-body-dynamic-model (PRBDM). Then, the frequency analysis of a micro-robot based on PRBDM is investigated. The relation between the robot tail's displacement and the electrical voltage's frequency f is theoretically derived and the simulation result for the tail's displacement is performed. Based on the characteristics of the micro bio-robots actuated by ICPF, a short-distance multi-hop communication mechanism is designed and can be used to constitute a wireless sensor network. In the mechanism, every peer only restores one-hop peers in its routing table, which is so small that the search speed and network efficiency is increased. In addition, data is transmitted by multiple paths. The network resources are made adequate use. The reliability of the network is increased, too. Thus, the network consisted of micro-robots can be established quickly and flexibly.

关键词： Tail Polymer films Conductive films Frequency Leg Polymer gels Low voltage Robot sensing systems Spread spectrum communication Wireless sensor networks

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Predictive,-velocity modified particle Swarm optimization

Predictive,-velocity modified particle Swarm optimization

引用

26th Chinese Control Conference, CCC 2007

作者： Zhihua, Cui Xingjuan, Cai Jianchao, Zeng Guoji, Sun Division of System Simulation and Computer Application Taiyuan University of Science and Technology Taiyuan 0300240 China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an 710049 China

ISBN: (纸本)7900719229

Velocity update equation of standard particle swarm optimization uses only the size information of previous velocity vector whereas ignoring the corresponding direction information. By adding predictive velocity, a new predictive-velocity modified particle swarm optimization (PVPSO) which using the size and direction information of velocity vectors to estimate and correct particle's next generation positions is proposed. Theoretical analysis proofs the new algorithm owns an enhanced global search capability. The optimization computing of some examples is made to show that the PVPSO has better global search capacity and rapid convergence speed.

关键词： Optimization

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Self-adaptive PID-controlled particle swarm optimization

Self-adaptive PID-controlled particle swarm optimization

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26th Chinese Control Conference, CCC 2007

作者： Cai, Xingjuan Cui, Zhihua Zeng, Jianchao Tan, Ying Division of System Simulation and Computer Application Taiyuan University of Science and Technology Taiyuan 030024 China State Key Laboratory for Manufacturing Systems Engineering Xi'an Jiaotong University Xi'an 710049 China

ISBN: (纸本)7900719229

As a new version of particle swarm optimization (PSO), PID-controlled PSO introduces the concept of controller into the algorithm structure. However, with the introduction of PID controller, three additional parameters are incorporated into the algorithm. Thus, how to provide a proper selection of these parameters is an important problem to affect the algorithm efficiency. In this paper, the relationships among these parameters are conducted by the stability theory. Further, a self-adaptive parameter selection strategy is proposed. Simulation results show the proposed strategy is effective.

关键词： Self adjusting control systems

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Evolving Personality of a Genetic Robot in Ubiquitous Environment

Evolving Personality of a Genetic Robot in Ubiquitous Enviro...

引用

IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Jong-Hwan Kim Chi-Ho Lee Kang-Hee Lee Naveen S. Kuppuswamy Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Laboratory Telecommunication Research and Development Center Telecommunication Network Business Samsung Electronics Company Limited South Korea

This paper discusses the personality of genetic robot and its evolving algorithm within the purview of the broader ubiquitous robot framework. Ubiquitous robot systems blends mobile robot technology (Mobot) with distributed sensor systems (Embot) and overseeing software intelligence (Sobot), for various integrated services. The Sobot is a critical question since it performs the dual purpose of overseeing intelligence as well as user interface. The Sobot is hence modelled as an artificial creature with autonomously driven behavior. The artificial creature has its own genome and in which each chromosome consists of many genes that contribute to defining its personality. This paper proposes evolving the personality of an artificial creature. A genome population is evolved such that it customized the genome satisfying a set of personality traits desired by the user. Evaluation procedure for each genome of the population is carried out in a virtual environment. Effectiveness of this scheme is demonstrated by using an artificial creature, Rity in the virtual 3D world created in a PC.

关键词： Genetics Robot sensing systems Genomics Bioinformatics Intelligent robots Mobile robots Artificial intelligence Intelligent sensors Sensor systems Intserv networks

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Evolutionary multi-objective optimization for generating artificial creature’s personality

Evolutionary multi-objective optimization for generating art...

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Congress on Evolutionary Computation

作者： Chi-Ho Lee Kang-Hee Lee Jong-Hwan Kim Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Laboratory Telecommunication Research & Development Center Telecommunication Network Business Samsung Electronics Company Limited South Korea

This paper proposes the evolutionary generation of an artificial creature's personality by using the concept of multi-objective optimization. The artificial creature has its own genome and in which each chromosome consists of many genes that contribute to defining its personality. The large number of genes allows for a highly complex system, however it becomes increasingly difficult and time-consuming to ensure reliability, variability and consistency for the artificial creature's personality while manually assigning gene values for the individual genome. Moreover, there needs user's preference to obtain artificial creature's personality by using evolutionary generation. Preference is strongly depend on each user and most of them would have difficulty to define their preference as a fitness function. To solve this problem, this paper proposes multi-objective generating process of an artificial creature's personality. Genome set is evolved by applying strength Pareto evolutionary algorithm (SPEA). To facilitate the individuality of generated artificial creature, complement of (1-k) dominance and pruning method considering deviation are proposed. Obtained genomes are tested by using an artificial creature, Rity in the virtual 3D world created in a PC.

关键词： Genomics Bioinformatics Biological cells Evolutionary computation Humans application software Research and development Software testing Autonomous agents Robot sensing systems

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Adaptive Particle Swarm Optimization with PD Controller

Adaptive Particle Swarm Optimization with PD Controller

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Congress on Evolutionary Computation

作者： Jing Jie Jianchao Zeng Chongzhao Han Youzhi Ren Division of System Simulation & Computer Application Taiyuan University of Science and Technology Taiyuan China School of Electronics and Information Engineering Jiao Tong University Xi'an China China United Telecommunications Corporation China

The paper develops an adaptive particle swarm optimization(PSO) based on its simplification. With the hope to prompt its global optimization performance, the improved menthod introduces a PD controller into the architecture of the standard PSO(SPSO-PD). The PD controller can control the particle dynamics, and prompt the particles to respond to the change of their exemplars correctly and rapidly, further to surpass the limit of their exemplars with more chances, which greatly contributes to a successful global search. The proposed SPSO-PD was applied to some well-known benchmarks and compared with the standard PSO. The relative experimental results show SPSO-PD performs better than SPSO on the complex optimization functions.

关键词： Programmable control Adaptive control Particle swarm optimization PD control Evolutionary computation

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Ubiquitous Robot: A New Paradigm for Integrated Services

Ubiquitous Robot: A New Paradigm for Integrated Services

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Jong-Hwan Kim Kang-Hee Lee Yong-Duk Kim Naveen Suresh Kuppuswamy Jun Jo Robot Intelligence Technology Lab Department of Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea Application Technology Lab Telecommunication Research & Development Center Telecommunication Network business Samsung Electronics Company Limited Robotics and Computer Games Laboratory Griffith University Australia

This paper presents the components and overall architecture of the ubiquitous robot (Ubibot) system developed to demonstrate ubiquitous robotics, a new paradigm for integrated services. The system has been developed on the basis of the definition of the ubiquitous robot as that of encompassing the software robot Sobot, embedded robot Embot and the mobile robot Mobot. This tripartite partition, which independently manifests intelligence, perception and action, enables the abstraction of intelligence through the standardization of sensory data and motor or action commands. The Ubibot system itself is introduced along with its component subsystems of Embots, the position Embot, vision Embot and sound Embot, the Mobots of Mybot and HSR, the Sobot, Rity, a virtual pet modeled as an artificial creature, and finally the middleware which seamlessly enables interconnection between other components. Three kinds of experiments are devised to demonstrate the fundamental features, of calm sensing, context awareness and seamless service transcending the spatial limitations in the abilities of earlier generation personal robots. The experiments demonstrate the proof of concept of this powerful new paradigm which shows great promise.

关键词： Intserv networks Mobile robots Robot sensing systems Intelligent robots Intelligent sensors computer architecture Embedded software Artificial intelligence Standardization Positron emission tomography

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