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IEEE International Conference on systems, Man and Cybernetics

作者： S. Al-Sharhan F. Karray W. Gueaieb Department of Systems Design Engineering University of Waterloo Ontario Canada Pattern Analysis and Machine Intelligence (PAMI) Lab Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

A new evolutionary algorithm for the constrained multiple destination routing problem is presented. The constrained multicast problem is characterized by a minimum cost multicast tree and a bounded end-to-end delay. It has been proven that this problem is NP-complete. The proposed algorithm is based on a soft computing technique that integrates in an efficient manner the merits of genetic algorithms and concepts of the competitive learning in the artificial neural networks literature. A population based learning algorithm is utilized, among other techniques, to construct a delay bounded multicast tree. A salient feature of the algorithm is the adaptive learning concept that achieves an efficient trade-off between the exploration and exploitation of the search space.

关键词： Computational intelligence Routing Communication networks Multicast algorithms Delay Evolutionary computation Costs Computer networks Genetic algorithms Artificial neural networks

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Quaternions approach to solve the kinematic equation of rotation, A/sub a/A/sub x/=A/sub x/A/sub b/, of a sensor-mounted robotic manipulator

Quaternions approach to solve the kinematic equation of rota...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： J.C.K. Chou M. Kamel Pattern Analysis and Machine Intelligence Laboratory Department of Systems Design Engineering Institute for Computer Research University of Waterloo Waterloo ONT Canada

The problem of finding the relative orientation between the reference frames of a line-mounted sensor and the link is formulated as a kinematic equation of the form A/sub a/A/sub x/=A/sub x/A/sub b/, which has to be solved for the rotational transformation matrix A/sub x/ given the transformations A/sub a/ and A/sub b/. This equation can be transformed to its equivalent form in terms of quaternion and then simplified to a well-structured linear system of equations of the form Bx=0. Since B is rank-deficient, the solution is not unique. The generalized-inverse method using singular-value decomposition (SVD) is applied. Although the solution is reached using the analysis of SVD, the SVD is derived symbolically; therefore, the actual implementation of SVD is not required. A method for obtaining a unique solution is proposed where a system of nonlinear equations is solved using Newton-Raphson iteration. The iteration is simplified by a dimension-reduction technique that provides a set of closed-form formulas for solving the resulting linear system of equations.< >

关键词： Quaternions Robot kinematics Sensor systems Linear systems Coordinate measuring machines Robot sensing systems Nonlinear equations Position measurement Intelligent robots Manipulators

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Neural Networks in Manufacturing

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IFAC Proceedings Volumes 1993年第2期26卷 337-340页

作者： A.K.C. Wong J.Y. Ching Pattern Analysis and Machine Intelligence Laboratory Department of Systems Design Engineering University of Waterloo Waterloo Ontario N2L 3Gl Canada

Neural networks can be used to build autonomous manufacturing systems that can adapt to the changes in their environments. This paper provides some general discussion of the applications of neural network techniques in manufacturing and engineering. In particular, a new neural controller for process control and a novel network suitable for engineering classification and prediction tasks such as quality control and production monitoring are described.

关键词： Neural nets Manufacturing processes Control systems Quality control Inference processes

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Digital compressor structure in neural network implementation using complex complementary pass-transistor logic (C/sup 2/PL)

Digital compressor structure in neural network implementatio...

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Midwest Symposium on Circuits and systems (MWSCAS)

作者： D. Zhang M. Kamel M.I. Elmasry VLSI Research Group Department of Electrical & Computer Engineering University of Waterloo Waterloo ONT Canada Pattern Analysis & Machine Intelligence Systems Design Engineering University of Waterloo Waterloo ONT Canada

In this paper, a compressor structure based on complex complementary pass-transistor logic (C/sup 2/PL) is presented. Some types of 3-2 compressors in C/sup 2/PL are achieved and a number of experiments are conducted to optimize their performance. Two typical compressor building blocks, the 4-2 compressor and 7-3 compressor, are built and their digital neural network (DNN) applications are discussed. Compared with the complementary pass-transistor logic (CDL) designs, our simulations show that the C/sup 2/PL compressor has the best performances in power, delay and number of transistors.

关键词： Intelligent networks Neural networks CMOS logic circuits Logic design Switches Semiconductor device modeling design engineering Neurons CMOS technology Voltage

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Hard-fuzzy clustering: A cooperative approach

Hard-fuzzy clustering: A cooperative approach

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IEEE International Conference on systems, Man and Cybernetics

作者： R. Kashef M. S. Kamel Department of Electrical and Computer Engineering Pattern Analysis and Machine Intelligence (PAMI) Research Group University of Waterloo Canada

Data clustering plays an important role in many disciplines, where there is a need to learn the inherent grouping structure of the data in an unsupervised manner. It is well known that no clustering method can adequately handle all sorts of cluster structures and properties (e.g. shape, size, overlapping, and density). Combining multiple clustering methods is an approach to overcome the deficiency of single algorithms and further enhance their performances. Current approaches to multiple clusterings use ensemble clustering to generate aggregated solution from multiple clusterings or using a hybrid cascaded refinement to enhance the end-result clusters produced by a former clustering algorithm(s). A disadvantage of the cluster ensemble is the highly computational load of combing the clustering results especially for large and high dimensional datasets. A drawback of the hybrid approaches is that, one (or more) of the clustering algorithms stays idle until the previous algorithm(s) finishes its clustering. In this paper we propose a Cooperative Hard-Fuzzy Clustering (CHFC) model based on intermediate cooperation between the hard c-means (KM) and fuzzy c-means (FCM) to produce better clustering solutions. Our experimental results over artificial, real, and text documents datasets show that the quality of the clustering solutions obtained from the CHFC model is better than those obtained from both the KM and the FCM and also better than those obtained from hybrid cascaded models.

关键词： Clustering algorithms Clustering methods Partitioning algorithms Shape Refining pattern analysis machine intelligence Hybrid power systems Stability Computational efficiency

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Opposition-Based Q(λ) with Non-Markovian Update

Opposition-Based Q(λ) with Non-Markovian Update

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IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, (ADPRL)

作者： Maryam Shokri Hamid R. Tizhoosh Mohamed S. Kamel Pattern Analysis and Machine Intelligence Laboratory Department of Systems Design Engineering University of Waterloo ONT Canada Department of Electrical and Computer Engineering University of Waterloo ONT Canada

The OQ(λ) algorithm benefits from an extension of eligibility traces introduced as opposition trace. This new technique is a combination of the idea of opposition and eligibility traces to deal with large state space problems in reinforcement learning applications. In our previous works the comparison of the results of OQ(λ) and conventional Watkins' Q(λ) reflected a remarkable increase in performance for the OQ(λ) algorithm. However the Markovian update of opposition traces is an issue which is investigated in this paper. It has been assumed that the opposite state can be presented to the agent. This may limit the usability of the technique to deterministic environments. In order to relax this assumption the non-Markovian opposition-based Q(λ) (NOQ(λ)) is introduced in this work. The new method is a hybrid of Markovian update for eligibility traces and non-Markovian-based update for opposition traces. The experimental results show improvements of learning speed for the proposed technique compared to Q(λ) and OQ(λ). The new technique performs faster than OQ(λ) algorithm with the same success rate and can be employed for broader range of applications since it does not require determining state transition

关键词： Learning Usability Dynamic programming pattern analysis machine intelligence Laboratories System analysis and design design engineering systems engineering and theory State-space methods

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A Framework for Visual Position Estimation for Motor Vehicles

A Framework for Visual Position Estimation for Motor Vehicle...

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Workshop on Positioning, Navigation and Communication, WPNC

作者： Andrew Rae Otman Basir Pattern Analysis and Machine Intelligence (PAMI) Group Department of Electrical and Computer Engineering University of Waterloo Waterloo ONT Canada

This paper describes a general formulation for vehicle position estimation within a road network using visual features from a camera system and a priori knowledge in the form of Geographic Information System (GIS) data. The proposed approach consists of two parts. First, features of the environment are detected by the vision system while corresponding features are extracted from the GIS, which can be considered a system's internal model of the environment. Second, vehicle position is tracked over time using an extended Kalman filtering (EKF) scheme in which visual feature estimates are compared to features extracted from the GIS world model. Simulation results provide a visual illustration of the theoretical finding that uncertainty in vehicle position is reduced by the observation of features changing continuously with vehicle position. This work is applicable for autonomous navigation systems (which must observe the vehicle environment) and as a complement to satellite positioning methods.

关键词： Geographic Information systems Remotely operated vehicles Feature extraction Road vehicles Cameras machine vision Data mining Kalman filters Filtering Uncertainty

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A branch-and-bound method for finding independently distributed probability models that satisfy probability order constraints

A branch-and-bound method for finding independently distribu...

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IEEE International Conference on systems, Man and Cybernetics

作者： B.K. Sy Xiao Ying Han Pattern Analysis and Machine Intelligence Group System Design Engineering Department University of Waterloo Waterloo ONT Canada Department of Computer Science CUNY Flushing NY USA

A branch-and-bound method for finding independently distributed probability models is presented. Such models attempt to capture expert preference by (inequality) order relationships and are useful for the development of decision support systems. Finding probability models with independent distributions can be formulated as a linear-constraint optimization problem with a dynamic cost function. A simplex-like algorithm was implemented for branching and bounding between two search spaces on finding the desired models. In these two search spaces, one encompasses all possible independent probability distributions, while the other encompasses all distributions that satisfy all probability order constraints.

关键词： Probability distribution Random variables Decision making Costs Mathematical model Educational institutions pattern analysis machine intelligence Computer science System analysis and design

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Improving gradient-based learning algorithms for large scale feedforward networks

Improving gradient-based learning algorithms for large scale...

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International Joint Conference on Neural Networks (IJCNN)

作者： M. Ventresca H. R. Tizhoosh Faculty member of the Pattern Analysis and Machine Intelligence laboratory and Opposition-Based Learning Groups in the Systems Design Engineering Department University of Waterloo Waterloo ONT Canada

Large scale neural networks have many hundreds or thousands of parameters (weights and biases) to learn, and as a result tend to have very long training times. Small scale networks can be trained quickly by using second-order information, but these fail for large architectures due to high computational cost. Other approaches employ local search strategies, which also add to the computational cost. In this paper we present a simple method, based on opposite transfer functions which greatly improve the convergence rate and accuracy of gradient-based learning algorithms. We use two variants of the backpropagation algorithm and common benchmark data to highlight the improvements. We find statistically significant improvements in both convergence speed and accuracy.

关键词： Large-scale systems Transfer functions Neural networks Feedforward neural networks Computer architecture Computational efficiency Convergence Backpropagation algorithms Computer networks design engineering

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Search Difficulty of Two-Connected Ring-based Topological Network designs

Search Difficulty of Two-Connected Ring-based Topological Ne...

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IEEE Symposium on Foundations of Computational intelligence, FOCI

作者： Beatrice Ombuki-Berman Mario Ventresca Computer Science Department Brock University Saint Catharines ONT Canada Pattern Analysis and Machine Intelligence (PAMI) laboratory in the Systems Design Engineering Department University of Waterloo Waterloo ONT Canada

Ring-based network design problems have many important applications, especially in the fields of logistics and telecommunications. This paper focuses on the recently proposed two-connected network with bounded rings problem. We investigate the search difficulty of both the Euclidean edge and unit edge length ring size bounds flavors of this problem by performing an information-theoretic fitness landscape analysis for several instances of the problem. Our results further confirm the hypothesis that the unit edge length version of the problem is indeed more difficult. The investigation also further reveals that smaller sized ring bounds lead to harder problems for Euclidean edge lengths. However, for unit edge lengths we did not establish such a relationship

关键词： Logistics Performance analysis Telecommunication network topology Costs Telecommunication traffic Computational intelligence Information analysis Helium Abstracts design optimization

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