This paper introduces the Reactive ASR-FA algorithm which is a novel ant routing algorithm that utilizes statistical models of packet delay to detect changes in the network conditions. The algorithm is able to quickly...
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This paper is focused on the problem of designing nonlinear observers for fault diagnosis tasks. The main objective is to show how to employ a modified version of the well-known unknown input observer, which can be ap...
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Many systems repeat the same operation over and over again on a finite duration. Repetitive processes have this characteristic where repeated sweeps, termed passes, are made over the finite pass length and when each i...
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In this paper, the problem of robust fault detection using observers with noise, disturbances and modelling uncertainties is addressed using two complementary strategies. First, disturbances considered as unknown inpu...
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Iterative learning control can be applied to systems that repeat the same task over a finite duration with resetting to the starting location once each one is complete. The novel feature is the use of information from...
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In this paper a method is presented for learning of spiking neural networks. It is based on perturbation of synaptic conductances. While this approach is known to be model-free, it is also known to be slow, because it...
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In this paper a method is presented for learning of spiking neural networks. It is based on perturbation of synaptic conductances. While this approach is known to be model-free, it is also known to be slow, because it applies improvement direction estimates with large variance. Two ideas are analysed to alleviate this problem: First, learning of many networks at the same time instead of one. Second, autocorrelation of perturbations in time. In the experimental study the method is validated on three learning tasks in which information is conveyed with frequency and spike timing.
This paper considers on-line training of feadforward neural networks. Training examples are only available sampled randomly from a given generator. What emerges in this setting is the problem of step-sizes, or learnin...
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This paper considers on-line training of feadforward neural networks. Training examples are only available sampled randomly from a given generator. What emerges in this setting is the problem of step-sizes, or learning rates, adaptation. A scheme of determining step-sizes is introduced here that satisfies the following requirements: (i) it does not need any auxiliary problem-dependent parameters, (ii) it does not assume any particular loss function that the training process is intended to minimize, (iii) it makes the learning process stable and efficient. An experimental study with the 2D Gabor function approximation is presented.
It is observed that certain convex envelopes of Wightman type functionals corresponding to scalar, stochastically positive quantum fields consist of Wightman type functionals only .This leads to the construction of a ...
The paper presents an open structure controller for a system consisting of several robots, cooperating devices and diverse sensors. This controller has been successfully used for the execution of tasks by two 5 d.o.f....
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The paper presents an open structure controller for a system consisting of several robots, cooperating devices and diverse sensors. This controller has been successfully used for the execution of tasks by two 5 d.o.f. (degree of freedom) robots equipped with sensors. When dealing with two robots having less than 6 d.o.f each and manipulating a rigid object, extra problems arise, because most of the trajectories expressed in six-dimensional task space are not admissible. A technique for computing the accessible positions for an object handled by two cooperating robot arms is developed. This technique can be incorporated into a motion planning algorithm for the dual-arm system. The motion planning problem is decomposed into two subproblems: first, an admissible path finding, and second, planning the trajectory along the given path. For the experimental verification of the method of generating and executing admissible trajectories the open structure multi-robot research-oriented controller (MRROC) was used. The paper presents how to build a controller tailored to the task at hand on the example of two robots transferring a rigid object.
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