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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Chaomin Luo S.X. Yang Xiaobu Yuan Advanced Robotics and Intelligent Systems (ARIS) Laboratory School of Engineering University of Guelph Guelph ONT Canada School of Computer Science Windsor University Windsor ONT Canada

An area-covering operation is a kind of complete coverage path planning, which requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum, robots, painter robots, land mine detectors, lawn mowers, and windows cleaners. In this paper, a novel biologically inspired neural network approach is proposed for complete coverage path planning with obstacle avoidance of a cleaning robot in a nonstationary environment. The dynamics of each neuron in the topologically organized neural network is characterized by a shunting equation or an additive equation derived from Hodgkin and Huxley's (1952) membrane equation. There are only local lateral connections among neurons. Thus the computational complexity linearly depends on the neural network size. The proposed model algorithm is computationally efficient, and can also deal with changing environment. Simulation results show that the proposed model is capable of planning collision-free complete coverage robot path.

关键词： Cleaning Robots Path planning Neural networks Equations Landmine detection Neurons Computational modeling Detectors Biomembranes

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Devising adaptive migration policies for cooperative distributed genetic algorithms

Devising adaptive migration policies for cooperative distrib...

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IEEE International Conference on Systems, Man and Cybernetics

作者： E. Noda A.L.V. Coelho I.L.M. Ricarte A. Yamakami A.A. Freitas School of Electrical and Computer Engineering (FEEC) UNICAMP-State University of Campinas Brazil Postgraduate Program in Computer science Pontifical Catholic University of Paraná Brazil

Distributed genetic algorithms (DGAs) constitute an interesting approach to undertake the premature convergence problem in evolutionary optimization. This is done by spatial partitioning a huge panmitic population into several semi-isolated groups, called demes, each evolving in parallel by its own pace, and possibly exploring different regions of the search space. At the center of such approach lies the migratory process that simulates the swapping of individuals belonging to different demes, in such a way to ensure the sharing of good genetic material. In this paper, we model the migration step in DGAs as an explicit means to promote cooperation among genetic agents, autonomous entities encapsulating GA instances for possibly tackling different sub-problems of a complicated task. The focus is on the characterization of adaptive migration policies in which the choice of what individuals to migrate and/or replace is not defined a priori but according to a more knowledge-oriented rule. Comparative results obtained for a data-mining task were conducted, in order to assess the performance of adaptive migration according to efficiency/effectiveness criteria.

关键词： Genetic algorithms Identity-based encryption Inductors Search engines Dissolved gas analysis Parallel architectures Cloning

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A soft expert system for the creative exploration of first principles of crystal-laser design

A soft expert system for the creative exploration of first p...

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2002 IEEE International Conference on Systems, Man and Cybernetics

作者： Rubin, Stuart H. Rush, Robert J. Smith, Michael H. Jayaram Murthy, S.N. Trajkovic, Ljiljana Spawars Systems Center 53560 Hull Street San Diego CA United States BISC Program University of California Berkeley CA United States Department of Computer Science Central Michigan University Mt. Pleasant MI United States School of Engineering Science Simon Fraser University Burnaby BC Canada

A soft expert system is defined to be one that is qualitatively fuzzy. In this paper, we present such a system known as "KASER" which stands for 'Knowledge Amplification by Structural Expert Randomization". KASER facilitates reasoning using domain specific expert and commonsense knowledge. It accomplishes this through object-classed predicates and an associated novel inference engine. It addresses the high cost associated with the knowledge acquisition bottleneck. It also enables the entry of a basis of rules and provides for the automatic extension of that basis through domain symmetries. We demonstrate an application for KASER in the design of an intelligent tutoring system that teaches the basic science of crystal-laser design. It enables the student to experiment with various design concepts and receive feedback on the functionality of the proposed design. This is possible without a need to preprogram all possible scenarios.

关键词： Knowledge engineering

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Adaptive navigation for learners in hypermedia is scaffolded navigation

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2nd International Conference on Adaptive Hypermedia and Adaptive Web-Based Systems, AH 2002

作者： Hübscher, Roland Puntambekar, Sadhana Department of Computer Science and Software Engineering Auburn University 107 Dunstan Hall Auburn AL 36849-5347 United States School of Education Program in Instructional Media and Technology University of Connecticut U-64 249 Glenbrook Ave. Storrs CT 06269-2004 United States

ISBN: (纸本)3540437371

Adaptive navigation support can be of great help in large hypermedia systems supporting learners as well as users searching for specific information. A wide variety of adaptive mechanisms have been implemented in existing adaptive hypermedia systems that provide better and better suggestions to the user what hyperlinks to follow. We suggest that adaptive navigation support should scaffold a learner in an educational hypermedia system to select the appropriate links. We show that this implies that selecting a link is an educationally relevant activity that should not always be reduced to a trivial task by powerful adaptive mechanisms. It follows that learners require sometimes different kinds of adaptive navigation support than users looking for information. Finally, we will suggest how to extend current mechanisms to provide scaffolded navigation support to learners. © 2002 Springer-Verlag Berlin Heidelberg.

关键词： Hypermedia systems

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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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A soft expert system for the creative exploration of first principles of crystal-laser design

A soft expert system for the creative exploration of first p...

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IEEE International Conference on Systems, Man and Cybernetics

作者： S.H. Rubin R.J. Rush M.H. Smith S.N. Jayaram Murthy L. Trajkovic SPAWAR Systems Center San Diego CA USA BISC Program University of California Berkeley CA USA Department of Computer Science Central Michigan University Mount Pleasant MI USA School of Engineering Science Simon Fraser University Burnaby BC Canada

A soft expert system is defined to be one that is qualitatively fuzzy. We present such a system known as KASER which stands for Knowledge Amplification by Structural Expert Randomization. KASER facilitates reasoning using domain specific expert and commonsense knowledge. It accomplishes this through object-classed predicates and an associated novel inference engine. It addresses the high cost associated with the knowledge acquisition bottleneck. It also enables the entry of a basis of rules and provides for the automatic extension of that basis through domain symmetries. We demonstrate an application for KASER in the design of an intelligent tutoring system that teaches the basic science of crystal-laser design. It enables the student to experiment with various design concepts and receive feedback on the functionality of the proposed design. This is possible without a need to preprogram all possible scenarios.

关键词： Expert systems Knowledge acquisition Intelligent systems USA Councils Engines Costs Production systems computer errors Hybrid intelligent systems Fuzzy systems

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Workshop on software quality

Workshop on software quality

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International Conference on Software engineering (ICSE)

作者： M.M. de Oliveira A.R. Rocha K. Chaves Weber Computer Science Department Catholic University of Brasilia Brazil Graduate School of Engineering-COPPE Federal University of Rio de Janeiro Rio de Janeiro Brazil Quality and Productivity Software Program/ Software Sub-committee Society for the Promotion of Excellence in Brazilian Software SOFTEX Brazil

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From standard to non-standard semantics by semantics modifiers

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International Journal of Foundations of computer science 2001年第2期12卷 171-211页

作者： Abramov, Sergei Glück, Robert Program Systems Institute Russian Academy of Sciences RU-152140 Pereslavl-Zalessky Russian Federation Department of Information and Computer Science School of Science and Engineering Waseda University Shinjuku-ku Tokyo 169-8555 Japan

An approach for systematically modifying the semantics of programming languages by semantics modifiers is described. Semantics modifiers are a class of programs that allow the development of general and reusable semantics components. Language independence is achieved through the interpretive approach: an interpreter serves as a mediator between the new language and the language for which the non-standard semantics was implemented. Inverse computation, equivalence transformation and neighborhood analysis are shown to be semantics modifiers. Experiments with these modifiers show the computational feasibility of this approach. Seven modifier projections are given which allow the efficient implementation of non-standard interpreters and non-standard compilers by program specialization or other powerful program transformation methods. © 2001 World Scientific Publishing Company.

关键词： interpreters non-standard semantics partial evaluation program transformation programming languages supercompilation

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Performance tuning of sliding mode controllers: structural analysis approach

Performance tuning of sliding mode controllers: structural a...

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American Control Conference (ACC)

作者： Bong Keun Kim Wan Kyun Chung Il Hong Suh Robotics and Bio-Mechatronics Laboratory Pohang University of Science and Technology South Korea INCORL School of Electrical Engineering and Computer Science Hanyang University South Korea

In this paper, a structural design method of sliding mode controller, which makes it possible to predict the performance of the closed loop system, is proposed. First, a general sliding mode controller is derived and a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, robust internal-loop compensator(RIC) is proposed. Next, using the structural characteristics of the RIC, disturbance attenuation property is analyzed and the performance of the closed-loop system of sliding mode controller is predicted. The proposed performance predictable design of sliding mode controller provides a systematic approach to the problem of robust stability and performance specifications in the presence of uncertainty.

关键词： Sliding mode control Performance analysis Control systems Robust control Uncertainty Design methodology Closed loop systems Attenuation Robust stability Optimal control

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Analysis and design criteria for a redundantly actuated 4-legged six degree-of-freedom parallel manipulator

Analysis and design criteria for a redundantly actuated 4-le...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Bung-Ju Yi D. Cox D. Tesar School of Electrical Engineering and Computer Science Hanyang University Ansan Gyeonggi South Korea Robotics Research Group University of Texas Austin Austin TX USA

ISBN: (纸本)0780365763

This work introduces a new architecture for a parallel, six degree of freedom manipulator. The kinematic analysis of this redundant manipulator is provided. The proposed parallel mechanism allows easy implementation of redundant actuators, and has relatively large workspace in comparison to conventional six degree of freedom parallel devices. The kinematic analysis performed forms the basis for the introduction of design criteria for the manipulator. Several design criteria are introduced and their use is illustrated by example design involving an initial geometric parameter analysis of the manipulator.

关键词： Leg Manipulators Parallel robots Kinematics Actuators Legged locomotion computer science computer architecture Payloads Fault tolerant systems

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