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On multi-class problems and discretization in inductive logic programming 10th

10th International Symposium on Methodologies for intelligent systems, ISMIS 1997

作者： van Laer, Wim De Raedt, Luc Džeroski, Sašo Department of Computer Science Katholieke Universiteit Leuven Celestijnenlaan 200A HeverleeB-3001 Belgium Department of Intelligent Systems Joker Stefan Institute Jamova 39 Ljubljana1111 Slovenia

ISBN: (纸本)3540636145

In practical applications of machine learning and knowledge discovery, handling multi-class problems and real numbers are important issues. While attribute-value learners address these problems as a rule, very few ILP systems do so. The few ILP systems that handle real numbers mostly do so by trying out all real values applicable, thus running into efficiency or overfitting problems. The ILP learner ICL (Inductive Constraint Logic), learns first order logic formulae from positive and negative examples. The main characteristic of ICL is its view on examples, which are seen as interpretations which are true or false for the target theory. The paper reports on the extensions of ICL to tackle multi-class problems and real numbers. We also discuss some issues on learning CNF formulae versus DNF formulae related to these extensions. Finally, we present experiments in the practical domains of predicting mutagenesis, finite element mesh design and predicting biodegradability of chemical compounds. © Springer-Verlag Berlin Heidelberg 1997.

关键词： computer circuits

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Automatic fixture synthesis in 3D

Automatic fixture synthesis in 3D

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IEEE International Conference on robotics and Automation (ICRA)

作者： K. Penev A.A.G. Requicha Programmable Automation Laboratory Computer Science Department and Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

A fixture is an arrangement of fixturing modules that locate and hold a workpart during a manufacturing operation. In this work we consider fixtures with frictionless point contacts and present a method for placement of contact points on a non-prismatic 3D workpart. It is a nondeterministic, potential field algorithm for contact point placement. The method provides a basic framework for the integration of heterogeneous high-level fixturing agents through an interface based on zones of attraction and repulsion on the workpart boundary. The algorithm may produce redundant fixtures, and can augment partial solutions to complete form closure fixtures.

关键词： Fixtures Manufacturing automation robotics and automation intelligent robots Laboratories computer science intelligent manufacturing systems computer aided manufacturing Machining Assembly

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Aspects of controlling a multifingered gripper

Aspects of controlling a multifingered gripper

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International Conference on Knowledge-Based intelligent Electronic systems (KES)

作者： T. Doersam T. Fischer Department of Computer Science Institute for Real-Time Computer Systems and Robotics University of Karlsruhe Karlsruhe Germany

Controlling multifingered robot hands makes high demands on the control algorithms and the speed of the control computer. The nonlinear friction, the impact problem and other plant uncertainties require a special kind of control and tuning of the controller. Some simple linear and nonlinear controllers for the Karlsruhe Dexterous Hand are presented and the results and advantages of the controllers are shown. Also, a new adaptive fuzzy controller is presented to overcome the time consuming process of fine-tuning the membership functions. Finally, a short glance at the hardware platform is taken in order to show the control system architecture.

关键词： Grippers Friction Control systems Force control Fuzzy control Force measurement computer science Real time systems Robot control Programmable control

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Simplification of fuzzy rule based systems using orthogonal transformation

Simplification of fuzzy rule based systems using orthogonal ...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J. Yen Liang Wang Center for Fuzzy Logic Robotics and Intelligent Systems Department of Computer Science Texas A and M University College Station TX USA

It is known that removal of those redundant fuzzy rules from a rule base can result in a more compact fuzzy model with better generalizing ability. In this paper we propose a number of orthogonal transformation based methods which provide new or alternative tools for rule extraction. A common attribute of these methods is that they all work on a truth value matrix and employ some measure index to detect the rules that should be retained and eliminated. The performance of these methods is illustrated using a nonlinear plant modeling example.

关键词： Fuzzy systems Knowledge based systems Fuzzy logic intelligent robots Input variables intelligent systems computer science Least squares methods Singular value decomposition State-space methods

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Multiple fuzzy systems for function approximation

Multiple fuzzy systems for function approximation

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： J. Yen Liang Wang R. Langari Center for Fuzzy Logic Roboticsand Intelligent Systems Department of Computer Science Texas A and M University College Station TX USA

The standard procedure for building a fuzzy model often involves trying several candidates with varying number of fuzzy rules and training parameters in order to achieve acceptable model accuracy. Typically, one of the candidates is chosen as best, while the rest are discarded. When the system being considered is highly nonlinear or includes a number of input variables, the number of fuzzy rules constituting the underlying model is usually large. The paper proposes an alternative approach to designing fuzzy systems. The essential scheme is to decompose the overall system into subsystems and then combine their individual outputs. This offers advantages of speed, reliability, and simplicity of design. The concept of competition developed in modular networks theory is used to derive an identification algorithm. The utility of the proposed approach is illustrated by a nonlinear function approximation example.

关键词： Fuzzy systems Function approximation Neurons computer networks Neural networks Fuzzy neural networks

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Impact analysis of design alternatives on imprecise requirements

Impact analysis of design alternatives on imprecise requirem...

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IEEE International Conference on Fuzzy systems (FUZZ-IEEE)

作者： J. Yen W.A. Tiao Department of Computer Science Center or Fussy Logic Robotics and Intelligent Systems Texas A and M University College Station TX USA

The objective of software design is to build a system that meets the customer's requirements. Often requirements can be achieved by a set of different design alternatives. Identifying the impacts of various design alternatives on requirements thus become very important. In this paper, we proposed a formal framework to identify and reason impacts of design alternatives on imprecise requirements. Our approach captures the elasticity of imprecise requirements using fuzzy logic and represents design alternatives directly based on the representation of requirements. Based on these representations, we can: (1) identify relationships between requirements and between design alternatives; (2) reason implicit impacts of the design alternatives on requirements based on the identified requirement-requirement relationships, and design-requirement relationships; and (3) facilitate capture of the design rationale. The goal of identifying the impacts of design alternatives on requirements is to guide design engineers in evaluating design alternatives, to reduce design errors, to facilitate design rationale capture, and to build a system that better satisfies the customer.

关键词： Software design Design engineering intelligent robots Fuzzy logic Logic design intelligent systems computer science Vents Software systems Fuzzy sets

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Collision-free path planning with neural networks

Collision-free path planning with neural networks

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IEEE International Conference on robotics and Automation (ICRA)

作者： S. Lee G. Kardaras Jet Propulsion Laboratory California Institute of Technology Pasadena CA USA Department of Computer Science-EE Systems Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA USA

We present an efficient path planning approach which represents a path by a series of via points connected by elastic strings that are subject to displacement due to collisions with obstacles as well as constraints pertaining to the domain to which path planning is applied. Obstacle regions are represented by a potential field created by a multilayered neural network. A fast simulated annealing approach is used for local minima problems from the potential field. The automatic generation and removal of via points is incorporated in the path planning approach to ensure collision-free planning regardless of the complexity of the environment (e.g., convex, concave or complicated obstacle regions). Our path planning approach is flexible due to the automatic generation and removal of via points based on the complexity of the domain of the path planning process, efficient due to the use of the necessary via points for the path representation at all times, and massively parallel due to the parallel computation of motions of via points with only local information.

关键词： Path planning Neural networks Simulated annealing computer networks intelligent robots Concurrent computing intelligent systems intelligent networks Propulsion Laboratories

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Elastic string based global path planning using neural networks

Elastic string based global path planning using neural netwo...

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IEEE International Symposium on Computational Intelligence in robotics and Automation (CIRA)

We present an efficient potential-field based path planning approach for point or higher dimensional objects which avoids effectively any local extreme problems. The approach represents a path by a series of via points connected by elastic strings which are subject to displacement due to collisions with obstacle regions as well as constraints pertaining to the domain to which path planning is applied. Obstacle regions are represented by a potential field created by a multilayered neural network. A fast simulated annealing approach is used for local minima problems from the potential field. The automatic generation and removal of via points is incorporated in the path planning approach to ensure collision-free planning regardless of the complexity of the environment. Local and global bias on the potential field is used to avoid any existing singularities and local minima. Our path planning approach is flexible, efficient and massively parallel.

关键词： Path planning Neural networks intelligent robots Data structures Joining processes intelligent systems Propulsion Laboratories Multi-layer neural network Simulated annealing

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Evaluating the mobility of a wheeled robot using dynamic modeling *

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Advanced robotics 1997年第5期12卷 579-591页

作者： Sukhatme, Gaurav S. Brizius, Scott Bekey, George A. Department of Computer Science Institute for Robotics and Intelligent Systems University of Southern California Los Angeles CA 90089-0781 United States

—This paper describes a multiple criteria, statistical technique for mobile robot evaluation. The evaluation method measures the time and energy costs of a particular class of exploratory mission. The method is implemented in the special case of a four-wheeled mobile robot inthe laboratory which was made to execute several (approximately 100) instances of the mission. It is proposed that a validated, dynamic model of the robot embedded in a simulated mission scenario be used to study alternate robot designs in a small 'neighborhood' of the existing physical *** a simulation was built and is described here. Results from trials with the physical robot and its simulated counterpart are compared and shown to agree well. The simulation is used to evaluate designs not constructed in the laboratory and the results are discussed. © VSP and robotics Society of Japan 1997.

关键词： Benchmarking Dynamic modelling Microrover Performance evaluation Wheeled robot

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Dynamic simulation of the jaw and chewing muscles for maxillofacial surgery

Dynamic simulation of the jaw and chewing muscles for maxill...

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IEEE Nonrigid and Articulated Motion Workshop

作者： T. Weingartner S. Hassfeld R. Dillmann Institute for Real-Time Computer Systems & Robotics Department for Computer Science University of Karlsruhe Karlsruhe Germany Medical Department Clinic for Oral and Maxillofacial Surgery University of Heidelberg Heidelberg Germany Department of Computer Science Institute for Real-Time Computer Systems& Robotics University of Karlsruhe Karlsruhe Germany

The need for simulation in medical environments increases with the complexity and risks of operations. Exact geometric planning is one of the main problems a surgeon has to deal with. The goal of the authors' research is the development of a graphical simulation of the human mastication system. Therefore, they are developing an integrated model of the jaw by parameterizing the bones (maxilla and mandible) and modeling the motion capabilities as well as the mastication muscles. The main focus of the paper is the introduction of a kinematic model of the temporomandibular joint and modeling of the mastication muscles. The kinematic model describes the geometrical and analytical movement of the jaw by specially defined axes. By modifying the axes or the geometrical model of the mandible, a surgeon can get a first impression of the post-operative result of, for example, a repositioning. Through integration of the muscles and muscle forces, one can even obtain a dynamic simulation of the whole mastication system.

关键词： Muscles Surgery Surges Computational modeling Medical simulation Kinematics Joints Tomography Pain Real time systems

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