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Ordinal regression with K-SVCR machines

6th International Work-Conference on Artificial and Natural Neural Networks, IWANN 2001

作者： Angulo, Cecilio Català, Andreu Universitat Politécnica de Catalunya Systems Engineering Dept Vilanova i la Geltrú08800 Spain Associated European Lab on Intelligent Systems and Advanced Control Vilanova i la Geltrú08800 Spain

ISBN: (纸本)3540422358

The ordinal regression problem or ordination have mixed features of both, the classification and the regression problem, so it can be seen as an independent problem class. The particular behaviour of this sort of problem should be explicitly considered by the learning machines working on it. In this paper the ordination problem is fomulated from the viewpoint of a recently defined learning architecture based on support vectors, the K-SVCR learning machine, specially developed to treat with multiple classes. In this study its definition is compared to other existing results in the literature. © Springer-Verlag Berlin Heidelberg 2001.

关键词： Learning systems

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Integrated identification and model predictive control using iterative refinement

Integrated identification and model predictive control using...

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2001 American control Conference

作者： Yang, L. Rivera, D.E. Control Systems Engineering Lab. Dept. of Chemical and Materials Eng. Arizona State University Tempe AZ 85287-6006 United States

An iterative refinement approach is presented for designing a high performance control system for an imprecisely known plant. The design procedure involves the integration of identification and model predictive control (MPC) using repeated closed-loop identification tests and successively improving the model (and ultimately, closed-loop performance) with each successive iteration. The method is appealing to industrial practice because real-time closed-loop data can be used directly to enhance the performance of a predictive controller without the need to deactivate the control loop during identification testing. The iterative refinement strategy is "plant-friendly" in that it tries to keep the identification test as short as possible while keeping the plant within operating limits and constraint. Constraint enforcement (on controlled, associated and manipulated variables) is naturally implemented through the use of MPC. The application of the method is demonstrated on a highly nonlinear diabatic (i.e., non-adiabatic) continuous stirred tank reactor problem.

关键词： Integrated control

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Nonlinear model predictive control utilizing a neuro-fuzzy predictor

Research Reports on Information Science and Electrical Engin...

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Research Reports on Information Science and Electrical engineering of Kyushu University 2001年第1期6卷 39-45页

作者： Waller, J.B. Hu, J. Hirasawa, K. Process Control Lab. Abo Akademi University 20500 Abo Finland Department of Electrical and Electronic Systems Engineering

This paper applies a quasi-ARMAX modeling technique, recently presented in the literature, to a process control framework. The use of this quasi-ARMAX modeling technique in nonlinear model predictive control (NMPC) formulations applied to simple nonlinear process control examples is investigated. The quasi-ARMAX predictor can be interpreted as a neuro-fuzzy predictor, and this neuro-fuzzy predictor is computationally straightforward and has showed excellent prediction capabilities. The predictor is thus well suited for NMPC purposes. Furthermore, the parameters of the neuro-fuzzy model can be argued to have explicit meaning, thus making the procedure of tuning the NMPC system more transparent when using the neuro-fuzzy predictor.

关键词： Predictive control systems

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Stochastic analysis of chaos dynamics in recurrent neural networks

Stochastic analysis of chaos dynamics in recurrent neural ne...

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Joint 9th IFSA World Congress and 20th NAFIPS International Conference

作者： Homma, Noriyasu Sakai, Masao Gupta, Madan M. Abe, Ken-Ichi Dept. of Elec. and Commun. Eng. Grad. School of Engineering Tohoku University Sendai 980-0879 Japan Intelligent Systems Research Lab. College of Engineering University of Saskatchewan Saskatoon Sask. S7N 5A9 Canada

This paper demonstrates that the largest Lyapunov exponent λ of recurrent neural networks can be controlled efficiently by a stochastic gradient method. An essential core of the proposed method is a novel stochastic approximate formulation of the Lyapunov exponent λ as a function of the network parameters such as connection weights and thresholds of neural activation functions. By a gradient method, a direct calculation to minimize a square error (λ - λobj)2, where λobj is a desired exponent value, needs gradients collection through time which are given by a recursive calculation from past to present values. The collection is computationally expensive and causes unstable control of the exponent for networks with chaotic dynamics because of chaotic instability. The stochastic formulation derived in this paper gives us an approximation of the gradients collection in a fashion without the recursive calculation. This approximation can realize not only a faster calculation of the gradients, where only O(N2) run time is required while a direct calculation needs O(N5T) run time for networks with N neurons and T evolution, but also stable control for chaotic dynamics. It is also shown by simulation studies that the approximation is a robust formulation for the network size and that proposed method can control the chaos dynamics in recurrent neural networks effectively.

关键词： Recurrent neural networks

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SEGMENTATION OF RANGE IMAGE BASED ON KOHONEN NEURAL NETWORK

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Journal of Electronics(China) 2001年第3期18卷 237-241页

作者： Zou Ning Liu Jian Zhou Manli Li Qing(State Education Commission Res. lab. for Image Processing & intelligent control. Electronic & Information engineering Dept., Huazhong University of Science & Technology. Wuhan 430074) State Education Commission Res. Lab. for Image Processing & Intelligent Control Electronic & Information Engineering Dept. Huazhong University of Science & Technology Wuhan

This paper presents an unsupervised range image segmentation based on Kohonen neural network. At first, the derivative and partial derivative of each point are calculated and the normal in each points is gotten. With the character vectors including normal and range value, self-organization map is introduced to cluster. The normal analysis is used to eliminate over-segmentation and the last result is gotten. This method avoid selecting original seeds and uses fewer samples, moreover computes rapidly. The experiment shows the better performance.

关键词： Range image Segmentation Kohonen neural network Merge

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Model-based architecture for evolutionary intelligent systems

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Transactions of the Society for Computer Simulation 2001年第1期18卷 2-8页

作者： Chi, Sung-Do Lee, Jang-Se Intelligent Systems Research Lab. Department of Computer Engineering Hangkong University Koyang-si Hwajeon-dong 200-1 Seoul 411-791 Korea Republic of

The basic objective of this research is to develop an architecture for systems capable of evolutionary intelligent behavior by combining the local individual learning within the generation with the global evolution over generations. Thus, the systematic integration of the individual learning with evolutionary learning is our major challenge. To do this, we have proposed the model-based architecture for designing evolutionary intelligent systems on the basis of the advanced modeling and simulation framework. Our approach is compared with conventional intelligent system approaches in that (i) individual and evolutionary intelligences are coherently integrated, and (ii) the modeling and simulation methodology for designing artificial life systems is introduced. The intelligent card game player system has been successfully implemented and tested to demonstrate the evolutionary intelligent behavior of proposed architecture.

关键词： Artificial intelligence

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Towards the design of excitable lattice controllers for (nano)robots

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International Journal of Smart engineering System Design 2001年第4期3卷 265-277页

作者： Adamatzky, Andrew Melhuish, Chris Intelligent Autonomous Systems Lab. Faculty of Engineering University of the West of England Frenchay Campus Coldharbour Lane Bristol BS16 1QY United Kingdom

The paper aims to build an algorithmic foundation for the design of distributed molecular controllers for nano-robots. In this study the purpose of the controller is to guide a robot toward a target. In our experiments the target is assumed to be a source of light, and therefore the robot behavior can be described as phototactic. controllers themselves are implemented as two-dimensional lattices (e.g., crystals or molecular arrays) of excitable nodes and photosensitive edges. When the edges of the lattice are excited by light, polymorphic patterns of excitation travel across the lattice. The spatio-temporal dynamic patterns of excitation are transformed into robot propulsive translation and rotation. We explore this idealistic set up in computer experiments and implement excitable simulated controllers on a real robot in the lab.ratory. The results from computer simulation of virtual robots with excitable lattice controllers indicate that the parameter space can be sub-divided into 'co-factal' domains. i.e., the space can be classified into domains of similar gross locomotive behavior. The sub-domains are compared in terms of their optimality. The effect of defective elements within an excitable lattice is also discussed.

关键词： Robotics

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Experiments in ergonomic robot-guided manipulation

Experiments in ergonomic robot-guided manipulation

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2000 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Soørensen, A. Liu, C. Kim, S.M. Lynch, K.M. Peshkin, M.A. Lab. for Intelligent Mech. Systems Dept. of Mechanical Engineering Northwestern University Evanston IL 60208 United States

Repetitive manual materials handling of heavy loads is common in assembly and is a common cause of low back disorders. The manual manipulation of a heavy load may be made more comfortable by constraining the load to move along a guide. The frictionless guide directs the motion of the load to the goal configuration as the human operator provides forces in directions that are comfortable. In this paper we present our first experimental results in guided manipulation with the purpose of understanding motions and forces that are comfortable for human operators.

关键词： Man machine systems

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Factorization method for multiple perspective views via iterative depth estimation

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systems and Computers in Japan 2000年第13期31卷 87-95页

作者： Ueshiba, Toshio Tomita, Fumiaki Electrotechnical Laboratory Tsukuba 305-8568 Japan Department of Electrical Engineering University of Tokyo Electrotechnical Laboratory Min. of Intl. Trade and Industry Intelligent Systems Division Canada Nat. Inf. Eng. Lab. Information Processing Society Robotics Society of Japan Soc. of Instrum. Control Engineers Department of Control Engineering Osaka University CMU Department of Computer Science Information Processing Society Robotics Society of Japan

This paper proposes a factorization method that reconstructs camera motion and scene shape based on the matching of multiple images under the condition that the camera captures a perspective view. Starting from the affine projection camera model, the projection depth is iteratively estimated until the measurement matrix has rank 4. Then, the obtained measurement matrix is factorized to restore the three-dimensional information of the scene in the projection space. This approach eliminates noise sensitive processes, such as the calculation of the fundamental matrix, that are required in the factorization for the conventional perspective projection image, and a stable reconstruction is realized. Furthermore, the metric constraint in the conventional affine model is extended, and the metric constraint in the perspective projection condition is derived. It is shown that the reconstruction in Euclidean space is realized if the internal parameters of the camera are given.

关键词： Image reconstruction

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Speech recognition using stochastic phonemic segment model based on phoneme segmentation

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systems and Computers in Japan 2000年第10期31卷 89-98页

作者： Furuichi, Chieko Aizawa, Katsura Inoue, Kazuhiko Faculty of Engineering Toin University of Yokohama 1614 Kurogane Midori Yokohama 225-8502 Japan Department of Physics Faculty of Science Ochanomizu Women's University Res. Lab. of Precision Engineering Tokyo Institute of Technology Dept. of Control System Engineering Faculty of Engineering Toin Yokohama University Acoustic Society of Japan Department of Control Systems Faculty of Engineering Toin Yokohama University

This paper discusses speech recognition based on a new statistical phoneme segment model which is trained by phoneme parameters derived from automatically extracted phoneme segments. The proposed system operates as follows. In preprocessing before recognition, the phoneme boundaries are detected by segmentation. The phonemes are discriminated using a stochastic phoneme segment model, and a phoneme segment lattice with scores is constructed. Next the speech recognition is performed by matching of symbol sequences to dictionary items. The segmentation system that is employed can infer phoneme boundaries with high accuracy. This helps to eliminate unnecessary parameters, leaving the feature parameters which are effective in separating phonemes. In other words, the phoneme recognition problem in continuous speech can be reduced to a discrimination problem and thus a speaker-independent model can be constructed from a relatively small number of training data. The stochastic phoneme segment model is trained with training samples extracted from a phoneme-balanced word set of 4920 words uttered by 10 speakers. In a recognition experiment with 6709 words uttered by 63 nontraining speakers, a recognition rate of 92.6% was obtained as the average for all speakers, using a word dictionary of 212 words.

关键词： Speech recognition

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