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Fourth International Conference on Control and Automation

作者： Tehrani, Ali M. Kamel, Mohamed S. Pattern Analysis and Machine Intelligence Lab Systems Design Engineering Department University of Waterloo Waterloo Ont. N2L 3G1 Canada

ISBN: (纸本)078037777X

In search for a reinforcement learning technique with the simplicity of tabular techniques and capability of dealing with continuous states like in fuzzy systems, we introduce a new approach, which we have called Adaptive Pseudo Fuzzy technique. The idea is to partition the state space with some window functions similar to fuzzy membership functions and learn the output values by changing the rules' consequents directly. This is a kind of local function approximation similar to RBFs and CMACs , however, unlike RBFs it does not shift the basis, and unlike CMACs it does not go through complex coarse coding. This method represents the input as a fuzzy system and learns the output as a look-up-table. We employed this technique in Sarsa(λ) to build a general online controller and examined it for a pole-balancing problem. © 2003 IEEE.

关键词： Learning systems

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Analysis and optimization of a non-time based motion controller for a nonholonomic mobile robot

Analysis and optimization of a non-time based motion control...

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IEEE International Symposium on Computational intelligence in Robotics and Automation (CIRA)

作者： Hao Li S.X. Yang F. Karray Advanced Robotics and Intelligent Systems (AFUS) Laboratory School of Engineering University of Guelph Canada Pattem Analysis and Machine Intelligence (PAMI) Laboratory Department of Systems Design Engineering University of Waterloo Canada

In this paper, a non-time based tracking controller of a nonholonomic mobile robot is first analyzed. Non-time based motion controllers have been successfully applied to many areas such as robot motion control, multi-robot coordination, force control, robotic teleoperation and manufacturing automation. However, by the traditional non-time based motion controller many suffer from oscillations in both the linear and angular velocities when there is a large initial tracking error. In this paper, a traditional non-time based tracking controller is optimized using a genetic algorithm, which is used to generate the model parameters that could guarantee the system stability and convergence of tracking error. Simulations using a nonholonomic mobile robot model with a four degree of freedom are conducted to investigate the performance of the proposed controller. The results using the proposed model is compared to those of the conventional model. Generally the proposed model performs better than the conventional model because the genetic algorithm can provide better parameters to minimize tracking error and the oscillation.

关键词： Motion analysis Motion control Mobile robots Automatic control Force control Error correction Genetic algorithms Robot motion Robot control Robot kinematics

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Optimization of a Neural Dynamics Based Controller for a Nonholonomic Mobile Robot Using Genetic Algorithms

Optimization of a Neural Dynamics Based Controller for a Non...

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International Conference on Control and Automation (ICCA)

作者： Hao Li S.X. Yang F. Karray Pattern Analysis and Machine Intelligence (PAMI) Lab Systems Design Engineering University of Waterloo Waterloo ONT Canada Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a neural dynamics based controller for a nonholonomic mobile robot is proposed. The turn angle of the robot in the proposed model is characterized by a biologically inspired shunting equation derived from Hodgkin and Huxley’s membrane equation. This model is capable of generating smooth steering velocity command that drives the robot to track desired paths. Some parameters in the proposed neural dynamics based controller need to be selected. A genetic algorithm is designed to optimize the model parameters that can guarantee the convergence of tracking error of the mobile robot. Simulation studies of a fourdegree-of-freedom mobile robot are conducted, which demonstrate the effectiveness of the proposed motion controller.

关键词： Mobile robots Genetic algorithms Biological system modeling Equations Biomembranes Algorithm design and analysis design optimization Convergence Motion control

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Guest Editorial

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intelligent Automation & Soft Computing 2000年第3期6卷 171-172页

作者： Mohamed Kamel[a] & Mohammad Jamshidi[b] [a] Pattern Analysis and Machine Intelligence Lab Department of Systems Design Engineering University of Waterloo Waterloo Ontario N2L 3G1 Canada [b] Nasa Center for Autonomous Control Engineering and Department of Electrical and Computer Engineering The University of New Mexico Albuquerque NM 87131 USA http://ace.tmm.edu

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A new multiport memory for high performance parallel processor system with shared memory

A new multiport memory for high performance parallel process...

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Asia and South Pacific design Automation Conference

作者： K. Hirano T. Ono H. Kurino M. Koyanagi Intelligent System Design Lab Department of Machine Intelligence and Systems Engineering Graduate School of Engineering Tohoku University Sendai Japan

We describe a new multiport memory which is called Shared DRAM (SHDRAM) to solve bus-bottle neck problem in parallel processor system with shared memory. This SHDRAM has four ports. Therefore four processors can be directly connected to this memory without bus-bottle neck. The basic operation of SHDRAM is confirmed by computer simulation and measurement results.

关键词： Neck Broadcasting Random access memory machine intelligence Cache memory Automatic logic units intelligent systems systems engineering and theory Parallel processing Concurrent computing

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EVOL: ensembles voting online

EVOL: ensembles voting online

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International Joint Conference on Neural Networks (IJCNN)

作者： G. Auda M. Kamel Pattern Analysis And Machine Intelligence Lab Systems Design Engineering Department University of Waterloo Canada

Cooperation by voting is one of the popular modular neural network decision-making strategies. Ensemble classifiers are multiple identical modules which use voting for post-learning classification. This paper suggests a new cooperation scheme for ensembles which utilizes voting in the learning process itself. According to the suggested scheme, different modules would, automatically, focus on different regions in the input space. Hence, temporal crosstalk decreases and decision boundaries are drawn accurately in complex overlapping regions of the input space.

关键词： Voting Neural networks Decision making Multi-layer neural network Filtering Crosstalk Pattern analysis machine intelligence system analysis and design design engineering

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Parallel processor system specific for Monte Carlo analysis based on ring bus architecture

Parallel processor system specific for Monte Carlo analysis ...

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International Workshop on Computational Electronics

作者： H. Kurino T. Ono N. Kuroishi T. Kawata N. Miyakawa M. Fukase R. Aibara M. Koyanagi Intelligent System Design Laboratory Department of Machine Intelligent and Systems Engineering Graduate School of Engineering University of Tohoku Sendai Japan Advanced Technology & Engineering Center Fuji Xerox Company Limited Faculty of Science and Technology Hirosaki University Information Processing Center Hiroshima Institute of Technology

We have developed a new parallel processor system specific for the MC analysis, to dramatically reduce the calculation time. Our parallel processor system is based on ring bus architecture. The RISC micro processor chip, which contains a ring bus interface unit (RBIU), a floating point arithmetic unit (FAU) and so on, was also developed for our system. Speed up ratio compared with a single processor reached to 13.5 at 23 PEs.

关键词： Monte Carlo methods design engineering Analytical models Computational modeling Master-slave intelligent systems machine intelligence Poisson equations system analysis and design systems engineering and theory

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Polyimide optical waveguide with multi-fan-out for multi-chip module application

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JAPANESE JOURNAL OF APPLIED PHYSICS PART 1-REGULAR PAPERS SHORT NOTES & REVIEW PAPERS 1997年第3B期36卷 1903-1906页

作者： Matsumoto, T Noguchi, Y Kudoh, Y Koyanagi, M Department of Machine Intelligence and System Engineering Intelligent System Design Laboratory Tohoku University Aramaki Aoba-ku Sendai 980-77 Japan

We developed a polyimide optical waveguide with multi-fan-out which can be used as an optical interconnection between the many LSI chips in a multichip module system. The propagation direction of the signal light is changed from horizontal to vertical and from;vertical to horizontal using aluminum micromirrors in this waveguide. We then introduced a signal light into this waveguide, the propagation direction of which was bent by an aluminum micromirror. It impinged on the photodiode to induce a significant increase in the photodiode current.

关键词： polyimide optical waveguide MCM multi-fan-out micromirror parallel processor

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New electrically thinned intrinsic-channel SOI MOSFET with 0.01 mu m channel length

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JAPANESE JOURNAL OF APPLIED PHYSICS PART 1-REGULAR PAPERS SHORT NOTES & REVIEW PAPERS 1997年第3B期36卷 1659-1662页

作者： Shimatani, T Pidin, S Koyanagi, M Department of Machine Intelligence and System Engineering Intelligent System Design Laboratory Tohoku University Aramaki Aoba-ku Sendai 980-77 Japan

In an ultrasmall device with a channel length of 0.01 mu m, only one impurity atom on the average exists in the channel region even though the impurity concentration is higher than 5.0 x 10(18) cm(-3). Therefore, the device characteristics significantly change from device to device within a wafer, or even within a chip, due to the statistical variation of the impurity concentration. We investigated the influences of isolated atoms in the channel region on the device characteristics based on a Monte Carlo simulation and propose a new 0.01 mu m sillcon-on-insulator metal oxide semiconductor field-effect transistor (SOI MOSFET) with undoped channel to suppress the influences of statistical variation and the short channel effect.

关键词： SOI MOSFET Monte Carlo simulation short channel effect statistical variation of impurity atoms intrinsic channel

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A rough set approach for planner evaluation

A rough set approach for planner evaluation

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IEEE International Conference on systems, Man and Cybernetics

作者： B.K. Sy Wang Jiaxin Pattern Analysis and Machine Intelligence Group System Design Engineering Department University of Waterloo Waterloo ONT Canada Department of Computer Science CUNY Flushing NY USA The State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology Tsinghua University Beijing China

This paper discusses a rough set approach for evaluating solutions of scheduling problems. Algorithms for solving scheduling problems are planners and the scheduling problems are modelled as constraint satisfaction problems. Conventional approach for the analysis of algorithms often focuses on the time and representational complexities, and assumes an identical cost on all operations. The proposed rough set approach augments conventional approaches for the analysis of algorithms in two ways: 1) it permits the consideration of different costs arising from different operations; and 2) it allows one to define a new utility for a complexity analysis.

关键词： Algorithm design and analysis Processor scheduling Set theory machine intelligence Computer science Costs Search problems Educational institutions Pattern analysis system analysis and design

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