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Evolving artificial neural network using simple augmenting weight matrix method

Evolving artificial neural network using simple augmenting w...

引用

IEEE International Conference on Industrial Informatics (INDIN)

作者： Dong-Hyun Lee Ju-Jang Lee Robotics Program Korea Advanced Institute of Science and Technology Daejeon South Korea Electrical Engineering and Computer Science Korea Advanced Institute of Science and Technology Daejeon South Korea

In this paper, a simple method is proposed to evolve artificial neural networks(ANNs) using augmenting weight matrix method(AWMM). ANNs' architecture and connection weights can be evolved simultaneously by AWMM, and their structures incrementally are growing up from minimal structure. It is a non-mating method. It employs 5 mutation operators: add connection, add node, delete connection, delete node, and new initial weight. And the connection weight is trained by the simplified alopex method, which is a correlation based method for solving optimization problem. In AWMM, structural information is encoded to weighting matrix, and the matrix is augmenting as the hidden nodes are added.

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Implementation of analog controller based on biological nervous system for biomimetics walking robot

引用

11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2008

作者： Kim, Sung Hoon Kang, Tae Hun Cho, Jin-Ho Pohang Institute of Intelligent Robotics San 31 Hyoja-Dong Nam-Gu Pohang Gyeongbuk 790-784 Korea Republic of School of Electrical Engineering and Computer Science Kyungpook National University 1370 Sankynk-dong Buk-gu Daegu 702-701 Korea Republic of

ISBN: (纸本)9812835768

In this paper, we proposed an analog neural controller (ANC) that is similar to physical modeling of the nervous system. ANC is composed of sensory neurons, motor neurons, synapses and dendrites. The functions of sensory neurons generate CPG signals and motor neurons change the sensory neuron signal for driving actuators. Synapses connect between neurons and the weigh to be given. Dendrites can accept external signal from the sensor. Because of parallel structure which is one of main characteristic of ANC, it is possible to walk by generating new pattern even though one of the neuron is out of working.

关键词： Neurons

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Fast lane detection with Randomized Hough Transform

Fast lane detection with Randomized Hough Transform

引用

International Symposium on Information Technology, ITSim

作者： Azali Saudi Jason Teo Mohd Hanafi Ahmad Hijazi Jumat Sulaiman Centre for Artificial Intelligence Computer Science Program School of Engineering & Information Technology Universiti Malaysia Sabah Kota Kinabalu Malaysia Computer Graphics Program School of Science & Technology Universiti Malaysia Sabah Kota Kinabalu Malaysia

Lane detection is an essential component of autonomous mobile robot applications. Any lane detection method has to deal with the varying conditions of the lane and surrounding that the robot would encounter while moving. Lane detection procedure can provide estimates for the position and orientation of the robot within the lane and also can provide a reference system for locating other obstacles in the path of the robot. In this paper we present a method for lane detection in video frames of a camera mounted on top of the mobile robot. Given video input from the camera, the gradient of the current lane in the near field of view are automatically detected. Randomized Hough Transform is used for extracting parametric curves from the images acquired. A priori knowledge of the lane position is assumed for better accuracy of lane detection.

关键词： Transforms Roads Pixel Robustness Image edge detection Vehicles Equations

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Two-dimensional location and direction estimating method

Two-dimensional location and direction estimating method

引用

Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Teruhiro Haga Sosuke Tsukamoto Hiroshi Hoshino Masters Program in Electronic and Computer Engineering Graduate School of Science and Engineering Tokyo Denki University Hiki Saitama Japan School of Science and Engineering Tokyo Denki University Hiki Saitama Japan

In this paper, a method of estimating both the position and the rotation angle of an object on a measurement stage was proposed. The system utilizes the radio communication technology and the directivity of an antenna. As a prototype system, a measurement stage (a circle 240mm in diameter) with 36 antennas that placed in each 10 degrees was developed. Two transmitter antennas are settled in a right angle on the stage as the target object, and the position and the rotation angle is estimated by measuring efficiency of the radio communication of each 36 antennas. The experimental result revealed that even when the estimated location is not so accurate (about a 30 mm error), the rotation angle is accurately estimated (about 2.33 degree error on average). The result suggests that the proposed method will be useful for estimating the location and the direction of an object.

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A handle electrode system for measuring heart rate while riding a bicycle

A handle electrode system for measuring heart rate while rid...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Masutaka Watanabe Sosuke Tsukamoto Hiroshi Hoshino Masters Program in Electronic and Computer Engineering Graduate School of Science and Engineering Tokyo Denki University Hiki Saitama Japan School of Science and Engineering Tokyo Denki University Hiki Saitama Japan

In this paper, a handle-electrode system is proposed for obtaining the heart rate of a user while riding a bicycle. The system was designed to measure the user's heart rate by only gripping the handle of a bicycle. Three electrodes made from conductive cloth were adhered to the handle. A method detecting heart-rate from the obtained electrocardiogram was also proposed. To assess the applicability of the proposed system, a simple experiment was performed. The experiment was performed in four conditions of road surfaces; lawn, asphalt, a tiled, and an uneven road. Experimental result suggests that the proposed system can be useful for obtaining R waves while riding a bicycle.

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Using stochastic gradient-descent scheme in appearance model based face tracking

Using stochastic gradient-descent scheme in appearance model...

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IEEE Workshop on Multimedia Signal Processing

作者： Zhidong Li Jing Chen Adrian Chong Zhenghua Yu Nicol N. Schraudolph School of Computer Science and Engineering University of New South Wales Kensington Australia Program of Making Sense of Data NAL Lab NICTA Kensington NSW Australia School of Computer Science and Engineering University of New South Wales Australia

ISBN: (纸本)9781424422944

Active appearance model (AAM) has been widely used in face tracking and recognition. However, accuracy and efficiency are always two main challenges with the AAM search. The paper therefore proposed a fast appearance-model based 3D face tracking algorithm to track a face appearance with significant translation, rotation, and scaling activities by using stochastic meta-descent (SMD) optimization scheme to accelerate the appearance model search and to improve the tracking efficiency and accuracy. The proposed algorithm constructs an active face appearance model by using several semantic landmark points extracted from each frame and then processes the appearance model search to approximate the model translating, rotating, and scaling by using the SMD filter to minimize the appearance difference between the current model and the new observation. We compared the results with both a conventional AAM and a Camshift filter and found that our algorithm outperforms both two in terms of efficiency and accuracy in tracking a fast moving, rotating, and scaling face object in a video sequence.

关键词： Face Solid modeling Tracking Three dimensional displays Algorithm design and analysis Accuracy Testing

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Quasicontinuum-like reduction of density functional theory calculations of nanostructures

Quasicontinuum-like reduction of density functional theory c...

引用

作者： Negrut, Dan Anitescu, Mihai El-Azab, Anter Zapol, Peter Materials Science Program Department of Mechanical Engineering University of Wisconsin Madison WI 53706 United States Mathematics and Computer Science Division Argonne National Laboratory Argonne IL 60439 United States School of Computational Science Florida State University Tallahassee FL 32306 United States Materials Science and Chemistry Divisions Argonne National Laboratory Argonne IL 60439 United States

Density functional theory can accurately predict chemical and mechanical properties of nanostructures, although at a high computational cost. A quasicontinuum-like framework is proposed to substantially increase the size of the nanostructures accessible to simulation. It takes advantage of the near periodicity of the atomic positions in some regions of nanocrystalline materials to establish an interpolation scheme for the electronic density in the system. The electronic problem embeds interpolation and coupled cross-domain optimization techniques through a process called electronic reconstruction. For the optimization of nuclei positions, computational gains result from explicit consideration of a reduced number of representative nuclei and interpolating the positions of the rest of nuclei following the quasicontinuum paradigm. Numerical tests using the Thomas-Fermi-Dirac functional demonstrate the validity of the proposed framework within the orbital-free density functional theory. Copyright © 2008 American Scientific Publishers All rights reserved.

关键词： Electronic structure

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Using Bayesian Network for planning course registration model for undergraduate students

Using Bayesian Network for planning course registration mode...

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Inaugural IEEE-IES Digital EcoSystems and Technologies Conference, DEST

作者： Pathom Pumpuang Anongnart Srivihok Prasong Praneetpolgrang Somchai Numprasertchai Department of Computer Science Faculty of Science Kasetsart University Bangkok Thailand Master of Science Program in Information Technology Graduate School Sripatum University Bangkok Thailand Department of Computer Engineering Faculty of Engineer Kasetsart University Bangkok Thailand

ISBN: (纸本)9781424414895

The objective of this study is to propose a model for planning course registration by using a data mining technique: Bayesian network. The proposed model can be used to predict the sequences of courses to be registered by undergraduate students whose majors are computer science or engineering. The data set was obtained from student enrollments and include GPA and grades in each subject for first and second year students from a private university in Thailand. Evaluations show that the predictive power of this model is acceptable. The implications from this studypsilas findings suggest that the model can be applied for advising students in planning courses to be registered in each semester. Further, the model appears to be useful for improving curriculum development in order to fit both studentspsila and university requirements.

关键词： Bayesian methods Biological system modeling computers Education Computational modeling Brain modeling Brain models

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Evolving Turbo Code Interleavers by Genetic Algorithms

Evolving Turbo Code Interleavers by Genetic Algorithms

引用

International Conference on Complex, Intelligent and Software Intensive Systems, CISIS

作者： Ajith Abraham Pavel Krömer Nabil Ouddane Václav Snášel Iita Professorship Program School of Computer Science and Engineering Yonsei University Seoul South Korea IITA Professorship Program Yonsei University1 Seoul Republic of Korea Dept. of Computer Science VSB - Technical University of Ostrava Ostrava-Poruba Czech Republic

Since the appearance in 1993, first approaching the Shannon limit, the turbo codes gave a new direction for the channel encoding field, especially since they were adopted for multiple norms of telecommunications, such as deeper communication. To obtain an excellent performance, it is necessary to design robust turbo code interleaver. In this research, we investigated genetic algorithms as a promising optimization method to find good performing interleavers for large frame sizes. In this paper, we present our work, compare with several previous approaches and present experimental results.

关键词： Optimization Biological cells Gallium Genetic algorithms Turbo codes Evolutionary computation Encoding

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Result representation of Rao-Blackwellized particle filtering for SLAM

Result representation of Rao-Blackwellized particle filterin...

引用

International Conference on Control, Automation and Systems ( ICCAS)

作者： Nosan Kwak Beom-Hee Lee Kazuhito Yokoi Joint Japanese-French Robotics Laboratory Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Japan School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

Recently, particle filters have been applying to many robotic problems including the simultaneous localization and mapping (SLAM). Specifically, SLAM approaches employing Rao-Blackwellized particle filter (RBPF) have shown good results. However, no research is conducted to analyze representation of the results of particle filtering. After finishing the particle filtering, the results such as a map and a path are stored in the separate particles. In most cases, the result of the particle that has the highest importance weight is represented as the result. However, this approach does not give the best result all the time. Thus, We provide the analysis of final representation of particle filtering. In this paper, we compares several methods to derive the final representation of the result after finishing RBPF-SLAM. According to the result, combining data of each particle provides the better result with high probability than using just data of a particle such as the highest weighted particle representation.

关键词： Filtering Simultaneous localization and mapping Particle filters Intelligent robots robotics and automation Service robots Electronic mail Finishing Diversity reception Automatic control

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