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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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Intelligent Database Query Translation

Intelligent Database Query Translation

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IEEE International Conference on systems, Man and Cybernetics

作者： M.S. Kamel W.S. Loo A.K.C. Wong Pattern Analysis and Machine Intelligence Group Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

In this paper we are concerned with techniques for processing database queries that are not required to be formulated based on complete and precise knowledge of the query specification as defined in the database management system. In specific, we consider processing queries that are ill-defined, not complete and fuzzy . We propose a query translator that tries to bridge the gap between the user's semantically stated query and its full specification as required by the database. The translator utilizes a graph based structure to represent queries and relations in the database. The translation process involves transforming incomplete query graphs into complete query graphs using attribute covering where the entities of the query are mapped to real entities of the database and functional dependency resolution, where the relational joins between these entities are established. The proposed translator is an attempt at incorporating intelligence in query processing systems to support user- friendly features such as cooperative and corrective responses from database systems.

关键词： Deductive databases Cities and towns Algebra Natural languages Topology Database languages Query processing

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Shape representation using concavity graphs

Shape representation using concavity graphs

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International Conference on pattern Recognition

作者： O. El Badawy M. Kamel Pattern Analysis and Machine Intelligence Laboratory Systems Design Engineering University of Waterloo Waterloo ONT Canada Systems Design Engineering University of Waterloo Waterloo ON Canada

In this paper, a new graph data structure for 2-D shape representation is proposed. The new structure is called a concavity graph, and is an evolution from the already known "concavity tree". Even though a concavity graph bears a fundamental resemblance to a concavity tree, the former is able to describe the shape of multiple objects in an image and their spatial configuration, and is hence inherently more complex. The aim of concavity graphs is two-fold: first we want to analyze the patterns in a multi-object image in a way that will (1) provide better representation of their shapes, and (2) convey useful information about how they "interact" together. Second, we want our analysis technique to facilitate similarity matching between two images. This paper introduces the new structure and outlines how it can be used for shape representation as well as similarity matching.

关键词： Shape Tree graphs Image analysis pattern analysis Data structures machine intelligence Laboratories System analysis and design design engineering systems engineering and theory

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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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Minimum Error Entropy High-Order Extended Kalman Filter

Minimum Error Entropy High-Order Extended Kalman Filter

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2023 International Conference on Cyber-Physical Social intelligence, ICCSI 2023

作者： Cheng, Zhi Chen, Xiaofeng Li, Hua Li, Weikai Lin, Dongyuan Chongqing Jiaotong University Department of Mathematics Chongqing China Miit Key Laboratory of Pattern Analysis and Machine Intelligence Nanjing China Southwest University College of Electronic and Information Engineering Chongqing China

ISBN: (纸本)9798350312492

The conventional extended Kalman filter(EKF) is proposed under the criterion of minimum mean square error(MMSE) and omits high-order information. This leads to poor estimation of the EKF in non-Gaussian and strongly nonlinear systems. In this paper, for a class of nonlinear non-Gaussian systems in polynomial form, Pseudo-linearizing the system while preserving the high-order information, a new filter is proposed based on the minimum error entropy(MEE) criterion called the minimum error entropy high-order extended Kalman filter (MEE-HEKF). In the MEE-HEKF algorithm, the state estimation problem is transformed into a recursive solution problem in the form of a Kalman filter by a fixed-point iterative approach based on the MEE cost function. The proposed algorithm has better robustness under strong nonlinearity and non-Gaussian noise. Finally, the effectiveness of the new algorithm is illustrated by an example. © 2023 IEEE.

关键词： Extended Kalman filters

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Software architecture for real-time autonomous agents: a case study for digital train system

Software architecture for real-time autonomous agents: a cas...

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IEEE International Symposium on Intelligent Control (ISIC)

作者： Insop Song F. Karray PAMI (Pattern Analysis Machine Intelligence) Group Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada

In this paper, a software architecture for multiple autonomous agents in a real-time environment is described. The software architecture for autonomous agents must effectively connect perception modules, planning modules and action modules. It is necessary to define both an interface and a data flow among different modules. The proposed software architecture connects reactive modules with deliberative modules. The architecture proved its feasibility by controlling a prototype of multiple model digital trains.

关键词： Software architecture Real time systems Autonomous agents Computer aided software engineering Computer architecture Switches Mobile robots Communication system control Computer errors pattern analysis

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A HYBRID MODEL FOR INTELLIGENT CONTROL-systems

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JOURNAL OF INTELLIGENT & ROBOTIC systems 1994年第3期10卷 221-241页

作者： AN, YF PANG, G APLEVICH, D 1. Pattern Analysis and Machine Intelligence Lab. System Design Engineering University of Waterloo N2L 3G1 Waterloo Ontario Canada 2. Department of Electrical and Computer Engineering University of Waterloo N2L 3G1 Waterloo Ontario Canada

Hybrid continuous-time and discrete-event system models are developed for applications to intelligent robot and autonomous control systems. Certain general properties, including the interface structure between the discrete event part and the continuous part of hybrid systems, are studied. Petri nets are proposed as the model for the discrete event sub-system (DES), and state equations with a set of binary parameters as the model for the continuous time sub-system (CTS) in a hybrid system. The quantized CTS is formulated in prime event structures, which can also be modeled by a condition/event Petri net. Therefore, a complete hybrid system can be fit into an extended Petri net formalism, which provides a unified framework for hybrid system description. The validity of the proposed model is demonstrated by modeling a two-tank system.

关键词： CONTINUOUS TIME systems DISCRETE EVENT systems HYBRID systems PETRI NETS MODELING INTELLIGENT CONTROL

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RBF-based real-time hierarchical intrusion detection systems

RBF-based real-time hierarchical intrusion detection systems

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International Joint Conference on Neural Networks (IJCNN)

作者： Ju Jiang Chunlin Zhang M. Kamel Pattern Analysis and Machine Intelligence Research Group Systems Design Department Engineering Faculty University of Waterloo Canada Systems Design Department University of Waterloo Canada

An intrusion detection system (IDS) is an art to detect network intrusions by monitoring the network traffic patterns. Generally, an IDS uses only a single-layer detection structure; therefore it cannot adjust its structure adaptively and automatically. In this paper, two hierarchical IDSs, the serial hierarchical and parallel hierarchical IDSs, are proposed. Both of them are based on radial basis function (RBF) neural networks. Because of the short training time and high accuracy of the RBF neural networks, two hierarchical IDSs can monitor network traffic in real-time, train new classifiers for novel intrusions automatically, and modify their structures adaptively after new classifiers are trained.

关键词： Real time systems Intrusion detection Neural networks Telecommunication traffic Computerized monitoring Computer networks Condition monitoring pattern analysis machine intelligence System analysis and design

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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 fuzzy set approach to extracting keywords from abstracts

A fuzzy set approach to extracting keywords from abstracts

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Conference of the North American Fuzzy Information Processing Society - NAFIPS

作者： M. Makrehchi M. Kamel Pattern Analysis and Machine Intelligence Lab Department of Systems Design Engineering University of Waterloo Waterloo ONT Canada Department of Systems Design Engineering University of Waterloo Waterloo Ontario Canada

An unsupervised keyword extraction method based on corpora is proposed. After representing each document in the collection by a fuzzy set of candidate keywords, the problem is translated into finding appropriate fuzzy membership degree for each candidate. In order to determine the membership degrees, first, all terms of the vocabulary are mapped into a two-dimensional space called class-collection map by obtaining two newly proposed fuzzy measures called fuzzy significance and fuzzy relevance for each term. At the second step, the mapped terms are grouped into three categories, namely, features, keywords and stopwords that are discriminated by their contribution to the meaning of the documents. Instead of a clustering approach for grouping purpose, a fuzzy rule base is provided. The method is independent of the language and data dimensionality. It does not require the use of dictionary, thesaurus nor natural language processing.

关键词： Fuzzy sets Vocabulary Web pages Abstracts Text mining Fuzzy systems pattern analysis machine intelligence System analysis and design design engineering

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