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Vague Sets Based Evidence Combinational Rule With Generalized Belief Function

Vague Sets Based Evidence Combinational Rule With Generalize...

引用

International Conference on Information and Automation (ICIA)

作者： Lizhong Xu Zhigui Lin Simon X. Yang College of Computer and Information Engineering Hohai University HHU Nanjing China Advanced Robotics and Intelligent Systems ARIS Laboratory School of Engineering University of Guelph Guelph ONT Canada

In this paper, a new vague evidence theory is proposed to expand the conventional evidence theory. First, the concept of vague evidence theory is introduced. Based on the features of vague sets, a belief function is formulated, and its characteristics is analyzed and proved mathematically. After that, based on the degree of similarity in vague sets, the relative contribution to the combined vague sets is obtained, and a vague sets based combinational rule is formulated. Finally, experiments are conducted to demonstrate the effectiveness of the proposed vague evidence theory. The proposed vague evidence theory based method is capable of representing and processing problems with vagueness, uncertainties and imprecision.

关键词： Fuzzy sets Set theory Area measurement Measurement uncertainty Humans Intelligent robots Fuzzy set theory Educational institutions Intelligent systems Arithmetic

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Spatial Distribution of Water Quality Based on Generalized Regression Neural Network

Spatial Distribution of Water Quality Based on Generalized R...

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International Conference on Information and Automation (ICIA)

作者： Huibin Wang Lizhong Xu Shaohua Sun Simon X. Yang College of Computer and Information Engineering Hohai University HHU Nanjing China Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada

The paper proposes a new model for analyzing spatial distribution of water quality. The model is based on statistics and generalized regression neural network. The model is based on statistic theories and easy to approximate a nonlinear function. The advantages of the model include simple net structure, few artificial parameters, and high accuracy calculation. The developed approach is successfully applied to the water quality assessment of the Taihu Lake of China P.R, which includes the dissolved oxygen concentration of water-quality index and the spatial distribution of the water-quality level. The results show that the model can generate a credible spatial distribution of the water quality.

关键词： Neural networks Lakes Statistical distributions Monitoring Intelligent robots Function approximation Probability density function Sun Educational institutions Computer networks

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Geometric Splines and Interpolation on S2: Numerical Experiments

Geometric Splines and Interpolation on S2: Numerical Experim...

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IEEE Conference on Decision and Control

作者： K. Huper Y. Shen F. Silva Leite National ICT Australia Canberra Research Laboratory Systems Engineering and Complex Systems Program Canberra Australia Department of Information Engineering Research School of Information Sciences and Engineering Australian National University Canberra Australia Department of Mathematics and the Institute of Systems and Robotics University of Coimbra Coimbra Portugal

ISBN: (纸本)1424401704;9781424401703

Several different procedures are presented to produce smooth interpolating curves on the two-sphere S 2 . The first class of methods is a combination of the pull back/push forward technique with unrolling data from S 2 into a tangent plane, solving there the interpolation problem, and then wrapping the resulting interpolation curve back to the manifold. The second method results from converting a variational problem into a finite dimensional optimisation problem by a proper discretisation process. It turns out that the resulting curves look very similar. The main difference though is that the first approach gives closed form solutions to the interpolation problem, whereas the second method results in a finite number of points. These points then require further treatment, e.g., one could connect them by geodesic arcs, i.e., by great circle segments, to get an approximate solution to the variational problem. Although the result would not be smooth, it seems to be the best that one can get if the discretisation process is combined with a sufficiently cheap interpolation procedure

关键词： Interpolation Manifolds USA Councils Wrapping Optimization methods Closed-form solution Optimal control Robot kinematics Orbital robotics Path planning

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Fusion of Visible and Infrared Images using Empirical Mode Decomposition to Improve Face Recognition

Fusion of Visible and Infrared Images using Empirical Mode D...

引用

IEEE International Conference on Image Processing

作者： Harishwaran Hariharan Andreas Koschan Besma Abidi Andrei Gribok Mongi Abidi Imaging Robotics and Intelligent Systems Laboratory ECE Department University of Tennessee Knoxville TN USA Nuclear Engineering Department University of Tennessee Knoxville TN USA

In this effort, we propose a new image fusion technique, utilizing empirical mode decomposition (EMD), for improved face recognition. EMD is a non-parametric data-driven analysis tool that decomposes non-linear non-stationary signals into intrinsic mode functions (IMFs). In this method, we decompose images from different imaging modalities into their IMFs. Fusion is performed at the decomposition level and the fused IMFs are reconstructed to form the fused image. The effect of fusion on face recognition is measured by obtaining the cumulative match characteristics (CMCs) between galleries and probes. Apart from conducting face recognition tests on visible and infrared raw datasets, we use datasets fused by averaging, principal component (PCA) fusion, wavelet based fusion and our method, for comparison. The face recognition rate due to EMD fused images is higher than the face recognition rates due to raw visible, raw infrared and other fused images. Examples of the fused images and illustrative CMC comparison charts are shown.

关键词： Infrared imaging Face recognition Image fusion Data analysis Signal analysis Optical imaging Image reconstruction Probes Testing Principal component analysis

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Hybrid Model of WT and ANFIS and Its Application on Time Series Prediction of Ship Roll Motion

Hybrid Model of WT and ANFIS and Its Application on Time Ser...

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Computational engineering in systems Applications, CESA, IMACS Multiconference on FLAGGED

作者： Hui Li Chen Guo Simon X. Yang Hongzhang Jin Automation and Electrical Engineering College Dalian Maritime University Dalian China Advanced Robotics and Intelligent Systems Laboratory School of Engineering University of Guelph Canada Automation College Harbin Engineering of Technology Harbin China

Based on the multi time and frequency scale and the nonlinear character of ship roll motion, a hybrid model prediction approach combining wavelet transform (WT) and adaptive neuro-fuzzy inference system (ANFIS) is proposed in this paper. By using multi-resolution nalysis (MRA) of WT, multilevel 1-D wavelet decompositions of roll motion are completed to obtain simple and regular period signals. Then the multiple-input/single-output (MISO) ANFIS model is employed as prediction model for the main decomposed signals above. Finally, a prediction result is given through linear combination. The simulation experiments demonstrate the proposed method can effectively reduce the prediction difficulty and obtain better prediction precision. This method can also be used in ship pitch and heave motion prediction

关键词： Predictive models Marine vehicles Wavelet analysis Wavelet transforms Multiresolution analysis Wavelet domain robotics and automation Educational institutions Intelligent robots Frequency

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Neurodynamics based Complete Coverage Navigation with Real-time Map Building in Unknown Environments

Neurodynamics based Complete Coverage Navigation with Real-t...

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2006 IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Chaomin Luo Simon X. Yang Max Q.-h. Meng Advanced Robotics and Intelligent Systems Laboratory University of Guelph Guelph ONT Canada Department of Electronic Engineering Chinese University of Hong Kong New Territories Hong Kong China

A rectangular cell map representation and a neural dynamics based technique are proposed for real-time map building and complete coverage navigation (CCN) of a cleaning robot. The proposed model is compared with a triangular cell map based method proposed by Oh et al. (2004), which combined distance transform path planning, wall-following algorithm, and template based technique. Our method does not need any templates, even in unknown environments. A local map composed of rectangular cells is built through the proposed neural dynamics during CCN with restricted sensory information in unknown environments. The robot is able to dynamically build an accurate map of its immediate limited surroundings for its navigation. Comparison studies to triangular cell map based CCN approach show that the proposed model is capable of planning more reasonable and shorter coverage path in unknown environments

关键词： Neurodynamics Navigation Biomembranes Cleaning Robot sensing systems Path planning Intelligent robots Biological system modeling Capacitance Real time systems

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Distributed Stochastic Control of MEMS-PZT Cellular Actuators with Broadcast Feedback

Distributed Stochastic Control of MEMS-PZT Cellular Actuator...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Jun Ueda L. Odhner Sang-Gook Kim H.H. Asada DArbeloff Laboratory for Information Systems and Technology Massachusetts Institute of Technology Cambridge MA USA Robotics Laboratory Graduate School of Information Science Nara Institute of Science and Technology Ikoma Nara Japan Micro & Nano Systems Laboratory Mechanical Engineering Massachusetts Institute of Technology Cambridge MA USA

A biologically-inspired approach is proposed for the coordination of a vast number of "cellular actuators." Each cellular actuator has a decision-making unit that changes the transition probability depending on the broadcasted control signal from a centralized feedback controller. Although there is no deterministic coordination among the vast number of cellular actuator, the sum of the displacements of the cellular actuators can track a desired trajectory. We propose a design of transition probability that guarantees the convergence of the expectation of this ensemble. We show that broadcast signal needs to contain the positioning error but other information is unnecessary, and robustness against failure is guaranteed for any percentage of inactive (dead) cells. A MEMS-PZT cellular actuator with strain amplifying mechanism is also presented

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Knowledge engineering Approach to Concurrently Competng Cyclic Processes Control

Knowledge Engineering Approach to Concurrently Competng Cycl...

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International IEEE Conference on Intelligent systems, IS

作者： R. Wojcik G. Bocewicz Z. Banaszak Wroclaw University of Technology Institute of Computer Engineering Control and Robotics Wroclaw Poland Technical University of Koszalin Koszalin Poland Systems Research Institute of Polish Academy of Sciences Laboratory of Knowledge Systems and Artificial Intelligence Wroclaw Poland

This paper addresses the problem of designing the steady-state behavior of a system composed of a set of repetitive processes competing for access to shared resources. Its objective is to provide a framework allowing to prototype a robust distributed control policy as a function of the characteristics of the component processes and dispatching rules involved. The considered problem resolution consists in finding a schedule with no process waiting for access to the shared resources and wherefore leading to controls not requiring resource conflict resolution. The problem is formulated as a task of prototyping of conditions sufficient for existence of a waiting-free n-process execution. The conditions prototyping is then examined within the framework of logic-algebraic method. The illustrative example of the approach proposed is provided

关键词： Knowledge engineering Process control Dispatching Steady-state Prototypes Distributed control Telephony Robust control Job shop scheduling Resource management

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Control of the multi agent micro-robotic platform MiCRoN

Control of the multi agent micro-robotic platform MiCRoN

引用

IEEE International Conference on Computer-Aided Design

作者： Panagiotis Vartholomeos Savvas Loizou Michael Thiel Kostas Kyriakopoulos Evangelos Papadopoulos Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Athens Greece GRASP lab University of Pennsylvania Philadelphia PA USA Mechanical Engineering Department Control Systems Laboratory National and Technical University of Athens Greece Institute for Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper presents the theoretical framework for the centralized control architecture of the multi agent micro-robotic platform MiCRoN. The entire control system architecture integrates sensory modules, modeling modules, and control modules. The latter are composed by (i) a high level simulation and autonomous execution unit that is capable for on-line multi-robot navigation with collision avoidance, (ii) a trajectory tracking unit for manipulation purposes, and (iii) a low level position controller that performs position control exploiting machine learning algorithms. The high level controllers take into account behaviors specific to the micro-scale. The performance of the layered control system is evaluated through simulations and preliminary hardware experiments on a micro-robotic platform. The application domain of the MiCRoN platform is cell manipulation, and 3-D assembly for micro-fabrication.

关键词： Control systems Robots Nanobioscience Mechanical engineering robotics and automation Navigation Centralized control Assembly systems Robotic assembly Trajectory

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Decision Support systems Based on CLP Approach in SMEs

Decision Support Systems Based on CLP Approach in SMEs

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Izabela Tomczuk-Pirog Robert Wojcik Zbigniew Banaszak Department of Management and Production Engineering Technical University of Opole Opole Poland Institute of Computer Engineering Control and Robotics Wrocław University of Technology Wroclaw Poland Systems Research Institute Laboratory of Knowledge Systems and Artificial Intelligence Polish Academy of Sciences Wroclaw Poland

The paper focuses on a selected class of decision problems related with the production flow planning in SMEs, particularly in new production orders. Verification of orders gives a possibility to evaluate whether resources capacity of a manufacturer is balanced with the orderer's requirements. The class of decision problems under analysis is included in the scope of organizational production preparation and can be naturally determined by available CLP (constraint logic programming) tools. The approach proposed in the paper is based on establishment of an interface which facilitates its task oriented use. The system has been presented on the basis of a sample order execution in a manufacturer's company (Archimedes S.A.).

关键词： Decision support systems Flow production systems Logic programming Production planning Manufacturing Companies Packaging Artificial intelligence Production systems Knowledge management

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