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Brazilian Symposium on Neural Networks

作者： F. Vieira A. Neto J. Costa Computer Engineering and Automation Department Technological Center Intelligent Systems Laboratory Federal University of Rio Grande do Norte Natal Rio Grande do Norte Brazil Electrical Engineering Department Intelligent Systems Laboratory Federal University of Rio Grande do Norte Natal Rio Grande do Norte Brazil

This paper presents an approach to the well-known traveling salesman problem (TSP) via competitive neural networks. The neural network model adopted in this work is the Kohonen network or self-organizing maps (SOM), which has important topological information about its neurons configuration. This paper is concerned with the initialization aspects, parameters adaptation, and the complexity analysis of the proposed algorithm. The modified SOM algorithm proposed in this paper has shown better results when compared with others neural network based approaches to the TSP.

关键词： Traveling salesman problems Neurons Neural networks Cities and towns Convergence Joining processes automation Intelligent systems Self organizing feature maps Algorithm design and analysis

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Kerr electro-optic measurements of space charge effects in high voltage pulsed propylene carbonate using parallel-plate electrodes

Kerr electro-optic measurements of space charge effects in h...

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International Symposium on electrical Insulation

作者： A. Helgeson M. Zahn ABB Power Automation M.I.T post doctoral student 2000/2001 Baden Switzerland Department of Electrical Engineering and Computer Science Laboratory for Electromagnetic and Electronic Systems Cambridge MA U.S.A.

ISBN: (纸本)0780373375

The Kerr electro-optic field mapping technique has been used to study space charge effects in high voltage pulsed propylene carbonate (C/sub 4/H/sub 6/O/sub 3/) using stainless steel parallel-plate electrodes. Measurements presented here were taken using a circular polariscope with aligned polarizers at room temperature (T/spl sim/20/spl deg/C) with average initial electric field strengths of E/sub 0//spl sim/52 kV/cm and for measurement times ranging from 10 /spl mu/s to 1 ms. The light intensity pictures were analyzed along a line in the center of the electrode gap. From the light intensity distribution the electric field and space charge were calculated as a function of position and time. The calculated space charge distributions show both positive and negative charge injections from the electrodes as well as bulk charge dissociation.

关键词： Pulse measurements Current measurement Charge measurement Space charge Voltage Electrodes Electric variables measurement Optical polarization Steel Temperature distribution

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A new model of the visual feedback coordinate transformation in humans based on disturbance noise and feedback error that accounts for time delays

A new model of the visual feedback coordinate transformation...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： E. Oyama K.F. MacDorman T. Maeda S. Tachi A. Agah Science and Technology (AIST) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan Intelligent Robotics Laboratory Graduate School of Systems Engineering Wakayama University Wakayama Japan School of Engineering University of Tokyo Bunkyo Tokyo Japan Department of Electrical Engineering and Computer Science University of Kansas Lawrence KS USA

An essential factor in understanding the motor learning capability of humans, is the coordinate transformation learning of the visual feedback controller. Although a number of learning models for the visual feedback controller have been proposed, none has been able to establish a definitive approach. In our previous work, we have suggested a learning model that uses disturbance noise and the feedback error signal to learn the human visual feedback controller's coordinate transformation. However, the model does not fully consider the time delay in the visual feedback control loop. This paper presents a modified learning model taking into account the time delay and the convergence properties of the model. Numerical simulations are presented to illustrate the effectiveness of the proposed approach.

关键词： Humans Delay effects Adaptive control Error correction Biological system modeling Feedback control Convergence Kinematics Intelligent robots Velocity control

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Aging agents

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Artificial Life and robotics 2001年第1期5卷 46-57页

作者： Elpida S. Tzafestas Intelligent Robotics and Automation Laboratory Electrical and Computer Engineering Department National Technical University of Athens Zographou Greece

We are adopting Brooks and Wiley's view of evolution as an irreversible process capable of producing increasingly greater complexity at higher organizational levels. We start from the assumption that the evolutionary force is intrinsic in the living system, and is in reality a continuous senescence function leading gradually and unavoidably to death. We are therefore seeking a senescence function that favors social rather than solitary agents in terms of longevity, without prespecifying in detail the agent's life span. We show that a senescence function relyling on negative (destructive) feedback links from metabolism to genetic program conforms with these specifications. We also show that senescence should affect all the regulation parameters of the agent, and that the system remains nonmanipulable and unpredictable as far as its life span is concerned. This senescence function favors the more “cognitive” agent models (the ones having additional regulation loops), and thus the emergence of organizations of a higher order that have more elaborate social relations.

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Using Motives and Artificial Emotions for Prolonged Activity of a Group of Autonomous Robots

Using Motives and Artificial Emotions for Prolonged Activity...

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2001 AAAI Fall Symposium

作者： Michaud, François Robichaud, Etienne Audet, Jonathan LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrooke SherbrookeQCJ1K 2R1 Canada

To operate over a long period of time in the real world, autonomous mobile robots must have the capability of recharging themselves whenever necessary. In addition to be able to find and dock into a charging station, robots must be able to decide when and for how long to recharge. This decision is influenced by the energetic capacity of their batteries and the contingencies of the environment. To deal with this temporality issue and using research evidences from the field of psychology, this study investigates the use of motives and artificial emotions to regulate the recharging need of autonomous robots. © 2001 AI Access Foundation. All rights reserved.

关键词： Robots

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Finding objects in a 3D environment by combining distance measurement and color indexing

Finding objects in a 3D environment by combining distance me...

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IEEE International Conference on Image Processing

作者： A. Koschan SunHo Lee M.A. Abidi Imaging Robotics and Intelligent Systems Laboratory Department of Electrical and Computer Engineering University of Tennessee USA

A new method is presented for the localization and recognition of three-dimensional objects using color information. In the first processing step, we estimate depth information by either applying a chromatic block matching method to color stereo images or acquiring a range image from a laser scanner. Second, the computed depth maps are segmented to distinguish between the image background and the objects that should be recognized. Assuming that the segmented regions represent single objects in the three-dimensional scene, feature vectors are generated based on color histograms. The Euclidean distance is used as well as the scalar product to measure the similarity between the feature vectors computed from the color image and the feature vectors stored in a database.

关键词： Distance measurement Indexing Color Histograms Image recognition Image segmentation Colored noise Layout Lighting Intelligent robots

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Fuzzy Cognitive Maps Multi-Model for Complex Manufacturing systems

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IFAC Proceedings Volumes 2001年第8期34卷 61-66页

作者： Chrysostomos D. Stylios Peter P. Groumpos Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Rion 26500 GREECE Tel. +30 61 997293 Fax. +30 61 997309

This paper examines the usefulness of Fuzzy Cognitive Maps in modeling complex systems and specifically their use in modeling supervisory manufacturing systems and handling with information from an abstract point of view. The use of Fuzzy Cognitive Maps for developing behavioral model for a complex system is discussed. Fuzzy Cognitive Maps applicability in modeling complex systems is presented and a hierarchical structure is proposed to model and control a complex system. Complex system is decomposed in subsystems and for each one a FCM model is developed. A hierarchical structure is proposed where Fuzzy Cognitive Map models the supervisor of the system and develops an abstract conceptual model of the complex system.

关键词： Fuzzy Cognitive Map Modeling Supervision Complex systems Manufacturing systems

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Light signaling for social interaction with mobile robots

Light signaling for social interaction with mobile robots

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IEEE International Symposium on Computational Intelligence in robotics and automation (CIRA)

作者： F. Michaud Minh Tuan Vu Laborius-Research Laboratory on Mobile Robotics and Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give autonomous mobile robots some kind of "social intelligence", they need to be able to recognize and interact with other agents in the world. This paper describes how a light signaling device can be used to identify another individual and to communicate simple information. By having the agents relatively close to each other, they share the same perceptual space, which allows them to sense or deduce implicit information concerning the context of their interaction. Using a vision- and sonar-based Pioneer I robot equipped with a colored-light signaling device, experimental results demonstrate how the robot. can interact with a human interlocutor in a ball-passing game.

关键词： Mobile robots Intelligent robots Intelligent agent Human robot interaction Humanoid robots Robot sensing systems Orbital robotics Animals Robot vision systems Protocols

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Mobile robot that can read symbols

Mobile robot that can read symbols

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IEEE International Symposium on Computational Intelligence in robotics and automation (CIRA)

作者： F. Michaud D. Letourneau LABORIUS-Research Laboratory on Mobile Robotics aid Intelligent Systems Department of Electrical and Computer Engineering Université de Sherbrook Sherbrooke QUE Canada

To give an autonomous robot the ability to read symbols, we need to integrate character recognition techniques with methods to position the robot in front of the symbol, to capture the image that will be used in the identification process, and to validate the overall approach on a robot. Our goal is to address the different aspects required in making a mobile robotic platform recognize symbols placed in real world environment, using current hardware and software capabilities. Validated on a Pioneer 2 robot, the approach described in this paper uses colors to detect symbols, a PID controller to position the camera, simple heuristics to select image regions that could contain symbols, and finally a neural system for symbol identification. Results in different lighting conditions are presented.

关键词： Mobile robots Intelligent robots Robot vision systems Hardware Cameras Roads Sonar Mobile computing Intelligent systems Character recognition

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Decentralized Predictive Control ofthe Heat Dynamics of a Greenhouse

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IFAC Proceedings Volumes 2001年第11期34卷 152-157页

作者： S.G. Tzafestast E.J. Kyriannal K.G. Arvanitis N. Sigrimis National Technical University of Athens. Dept. of Electrical and Computer Engineering Intelligent Robotics and Automation Laboratory Zographou 15773 Athens GREECE. Agricultural University of Athens Department of Agricultural Engineering Athens 11855 GREECE.

This paper proposes a decentralized model - based predictive controller approach for the design of discrete-time control systems for the regulation of the air temperature and heat supply in greenhouses. A state space model is used at the greenhouse to predict the corresponding indoor temperature over a long-range time period. The sun radiation and outdoor temperature are treated as external disturbances tliat affect the overall system dynamics. A series of energy fluxes consist the heating system and the predictive controllers have proved to be powerful in controlling the supply temperature.

关键词： Decentralized control Predictive control Greenhouse heat dynamics control

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