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A SOM projection technique with the growing structure for visualizing high-dimensional data.

International journal of neural systems 2003年第5期13卷 353-365页

作者： Wu, Zheng Yen, Gary G Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater 74078 OK United States

The Self-Organizing Map (SOM) is an efficient tool for visualizing high-dimensional data. In this paper, an intuitive and effective SOM projection method is proposed for mapping high-dimensional data onto the two-dimensional grid structure with a growing self-organizing mechanism. In the learning phase, a growing SOM is trained and the growing cell structure is used as the baseline framework. In the ordination phase, the new projection method is used to map the input vector so that the input data is mapped to the structure of the SOM without having to plot the weight values, resulting in easy visualization of the data. The projection method is demonstrated on four different data sets, including a 118 patent data set and a 399 checical abstract data set related to polymer cements, with promising results and a significantly reduced network size.

关键词： Self-Organizing Map documentation clustering dimensionality reduction growing cell structure

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Positivistlc tendencies due to engineering education 6

Positivistlc tendencies due to engineering education

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6th IFAC Symposium on Advances in Control Education, ACE 2003

作者： Erden, Mustara Suphi Department of Electrical and Electronics Engineering Computer Vision and Intelligent Systems Laboratory Middle East Technical University Ankara Turkey

In this research it is claimed that engineering education increases the positivistic tendencies of students regarding to the social problems. A theoretical background is given in the introduction and literature review. Two hypotheses are constructed and a micro-questionnaire survey is performed to test the hypotheses. In the survey positivistic tendencies of engineering students and social science students are compared. The results are depicted and discussed in detail. One of the hypotheses was approved by the results while the other was rejected. It is concluded that the rejected hypothesis was not in accordance with the claim since it overlooked some factors effecting positivism. The results of the survey support the claim by stating that 'engineering students are more positivist than social science students'. Copyright © IFAC Advances in Control Education Oulu, Finland, 2003

关键词： Students

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OPTIMIZING THE SUBDIVISION OF ELEMENTS IN DISCONTINUITY MESHING FOR HIERARCHICAL RADIOSITY

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International Journal on Artificial Intelligence Tools 2003年第4期12卷 395-411页

作者： IOANNIS A. PANTAZOPOULOS SPYROS G. TZAFESTAS Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Electrical and Computer Engineering Department National Technical University of Athens Zographou Athens Greece

This paper presents a new topological structure for use in the context of hierarchical radiosity combined with discontinuity meshing. This is most useful for a new strategy adopted for subdividing the elements of a scene consisting of convex polygons. The subdivision is done in a local optimization manner keeping the aspect ratios of produced polygons low. The generated meshes give high visual accuracy.

关键词： Hierarchical radiosity discontinuity meshing mesh pre(post)-processing multigriding aspect-ratio

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On the performance of the ant colony system for solving the multidimensional knapsack problem

On the performance of the ant colony system for solving the ...

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IEEE Pacific Rim Conference on Communications, computers and Signal Processing

作者： R. Parra-Hernandez N. Dimopoulos Department of Electrical and Computer Engineering Laboratory for Parallel and Intelligent Systems - LAPIS Laboratory for Parallel and Intelligent Systems-LAPIS Department of Electrical and Computer Engineering University of Victoria Canada

The purpose of this paper is to present a modified version of the ant colony system (ACS) algorithm. The modified ACS algorithm is faster and it has a better performance than the standard ACS algorithm. We have established a set of local rules/modifications, that do improve the performance of the standard ACS and these are reported here.

关键词： Multidimensional systems Laboratories intelligent systems Legged locomotion Constraint optimization Linear programming Lagrangian functions Resource management

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Advanced sonar and odometry error modeling for simultaneous localisation and map building

Advanced sonar and odometry error modeling for simultaneous ...

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： L. Kleeman Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University Australia

An advanced sonar sensor produces accurate range and bearing measurements, classifies targets and rejects interference with one sensing cycle. Two advanced sonar systems are used to simultaneously localise and map an indoor environment using a mobile robot. This paper presents the approach and results from on-the-fly map building using a Kalman filter and a new odometry error model that incorporates variations in effective wheel separation and angle measurements. This model is suited to pneumatic tyre odometry errors where the wheel separation has been found to vary unpredictably with floor surface and path curvature. The paper also presents techniques for detecting sonar feature clutter and selecting strong candidates for ultrasonic landmarks. The paper illustrates that sonar SLAM data association problems are significantly simplified when advanced sonar sensors are employed compared to Polaroid ranging modules.

关键词： Sonar measurements Wheels Sonar detection Interference Indoor environments Mobile robots Ultrasonic variables measurement Goniometers Tires Floors

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Textual message read by a mobile robot

Textual message read by a mobile robot

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IEEE International Workshop on intelligent Robots and systems (IROS)

作者： D. Letourneau F. Michaud J.-M. Valin C. Proulx Department of Electrical Engineering and Computer Engineering Universite de Sherbrooke LABORIUS - Research Laboratory on Mobile Robotics and Intelligent Systems Sherbrooke Quebec CANADA

Giving the ability to read characters and symbols is highly desirable for increased autonomy of mobile robots operating in the real world. The idea is fairly simple: give a robot the ability to acquire an image of a message to read, extract the symbols and recognize them. Image character recognition research has been going on for decades now, with good results. But compared to conventional character recognition systems, the challenge with a mobile robot is to find a textual message to capture in the world and to get a good view of the message, knowing that the viewpoint of the robot depends on its position in relation to the message, which cannot be pre-specified. In this paper we present our approach making it possible for an autonomous mobile robot to read messages. We outline the constraints under which the approach works, and present results obtained using a Pioneer 2 robot equipped with a Pentium 233 MHz and a pan-tilt-zoom camera.

关键词： Mobile robots Robot vision systems Cameras intelligent robots Character recognition Image recognition Navigation Laboratories Mobile computing intelligent systems

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Application of genetic algorithms to robotic swarm simulation

Application of genetic algorithms to robotic swarm simulatio...

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Congress on Evolutionary Computation

作者： K.W. Tang R.A. Jarvis Intelligent Robotics Research Centre Department of Electrical and Computer Systems Engineering Monash University VIC Australia

Research projects about evolution of agents in a cellular world are not new topics in the artificial life (AL) fields. However, most of the studies focus on those fundamental, social behaviours like energy preservation, pattern formation or leader following etc. This paper presents experiments about applications of genetic algorithms (GAs) to an empirical multiple robot cooperative task: unknown environment exploration. These experiments investigate the effectiveness of GAs for evolving behaviours of individual swarm members that constitute good collective results. They try to answer the questions of (i) Can GAs find such behaviours, or, do such behaviours exist? (ii) Are these behaviours sensitive to environmental changes?.

关键词： Genetic algorithms Robot kinematics intelligent robots intelligent agent systems engineering and theory Robot sensing systems Costs Application software Computational modeling Artificial intelligence

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Positivistic Tendencies Due to engineering Education

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IFAC Proceedings Volumes 2003年第10期36卷 117-122页

作者： Mustafa Suphi Erden Department of Electrical and Electronics Engineering Computer Vision and Intelligent Systems Laboratory Middle East Technical University Ankara Turkey

In this research it is claimed that engineering education increases the positivistic tendencies of students regarding to the social problems. A theoretical background is given in the introduction and literature review. Two hypotheses are constructed and a micro-questionnaire survey is performed to test the hypotheses. In the survey positivistic tendencies of engineering students and social science students are compared. The results are depicted and discussed in detail. One of the hypotheses was approved by the results while the other was rejected. It is concluded that the rejected hypothesis was not in accordance with the claim since it overlooked some factors effecting positivism. The results of the survey support the claim by stating that ’engineering students are more positivist than social science students’.

关键词： Education engineering Education Social Science Education Positivism Ideology Questionnaire Survey

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AUTOMATIC FACIAL FEATURE EXTRACTION USING EDGE DISTRIBUTION AND GENETIC SEARCH

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International Journal of Computational Intelligence and Applications 2003年第1期3卷 89-100页

作者： GARY G. YEN NETHRIE NITHIANANDAN Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK 74074-5032 USA

A heuristic, automatic facial feature extraction approach is presented in this paper. The method is based on the edge density distribution of the image, containing non-occluded, nearly frontal view of one or more faces. In the preprocessing stage, a face is approximated to an ellipse, and genetic algorithm is applied to search for the best ellipse region match. In the feature extraction stage, genetic algorithm is applied to extract the facial features, such as the eyes (with eyebrows), nose and mouth, in the predefined subregions. The simulation results validates that the proposed method is capable of automatically extracting features from various video images effectively under natural lighting environments and in the presence of complex backgrounds, certain amount of artificial noise and of multi-face oriented with angles. This preliminary study advanced from a rich literature provides robust facial feature detection under certain variations in lighting conditions and backgrounds.

关键词： Facial recognition feature extraction genetic algorithm edge density

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Hierarchical Rank Density Genetic Algorithm for Radial-Basis Function Neural Network Design

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International Journal of Computational Intelligence and Applications 2003年第3期3卷 213-232页

作者： Gary G. Yen Haiming Lu Intelligent Systems and Control Laboratory School of Electrical and Computer Engineering Oklahoma State University Stillwater OK 74078-503 USA

In this paper, we propose a genetic algorithm based design procedure for a radial-basis function neural network. A Hierarchical Rank Density Genetic Algorithm (HRDGA) is used to evolve the neural network's topology and parameters simultaneously. Compared with traditional genetic algorithm based designs for neural networks, the hierarchical approach addresses several deficiencies highlighted in literature. In addition, the rank-density based fitness assignment technique is used to optimize the performance and topology of the evolved neural network to deal with the confliction between the training performance and network complexity. Instead of producing a single optimal solution, HRDGA provides a set of near-optimal neural networks to the designers so that they can have more flexibility for the final decision-making based on certain preferences. In terms of searching for a near-complete set of candidate networks with high performances, the networks designed by the proposed algorithm prove to be competitive, or even superior, to three other traditional radial-basis function networks for predicting Mackey–Glass chaotic time series.

关键词： Genetic algorithm multiobjective evolutionary algorithm neural network design RBF network hierarchical representation Pareto set

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