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检索条件"机构=State Key Laboratory of Intelligent Technology& Systems"

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HGR:A New Rule Induction Algorithm Based on Extension Matrices

HGR:A New Rule Induction Algorithm Based on Extension Matric...

引用

2001 International Conferences on Info-tech and Info-net

作者： Weijun Chen Fuzong Lin Jianmin Li Bo Zhang Department of Computer Science and Technology Tsinghua University State Key Laboratory of Intelligent Technology and SystemsTsinghua University

The paper proposes a heuristic,attribute-based data mining algorithm,HGR(Heuristic Grouping), based on the newly-developed extension matrix *** the GROUP module is used to partition the positive examples of a specific class in a given example set into different groups,and then the COMP module is used to find a conjunctive complex for each *** empirical comparison shows that the HGR's predicative accuracy is competitive with its immediate predecessor,the HCV algorithm,and the famous ID3-like algorithm C4.5.

关键词： Rule Induction Extension Matrix Heuristic Grouping

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Conceiving, analyzing, modeling, verifying and developing-the clews of modeling open software architectures of robot controllers

Conceiving, analyzing, modeling, verifying and developing-th...

引用

International Conferences on Info-tech and Info-net (ICII)

作者： Hua Xu Peifa Jia Yannan Zhao State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology TsingHua University Beijing China

ISBN: (纸本)0780370104

Openness is one of the features of modem robot controllers. Although many modeling technologies about how to model and develop open robot controllers have been discussed, the focus is always on some detail problems in some respects. While the relative complete modeling clews have never been discussed. In this paper, an initial modeling clew is presented. The corresponding contents including basic conceptions, modeling methods, requirement analysis, and testing strategies are discussed in detail.

关键词： Object oriented modeling Robot control Modems Control systems Software engineering Testing intelligent robots Hardware Software architecture Laboratories

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A generic conceptual model of interface components in open robot controller

A generic conceptual model of interface components in open r...

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International Conferences on Info-tech and Info-net (ICII)

作者： Hua Xu Peifa Jia Yannan Zhao State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technology TsingHua University Beijing China

ISBN: (纸本)0780370104

Openness is one of the features of modern open robot controllers. The extending ability of control software is one of the important aspects related to openness. In order to overcome the limit of two existing extending mechanisms, a composite extending mechanism which has mixed their merits is presented. On the foundations of this mechanism, a conceptual model of interface component in the extending mechanism is completed by the means of a hierarchical object-oriented Petri net (HOONet) according to the function analysis results of interface components, because HOONet can support a dynamic extending model and encompass the strong ability of abstraction and verification. This kind of interface component can support not only a communicating function but also a reliability function (information feedback function).

关键词： Robot control Object oriented modeling Robot kinematics Software architecture Petri nets Bridges Scalability Application software Hardware Automata

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Multiple rewards fuzzy reinforcement learning algorithm in RoboCup environment

Multiple rewards fuzzy reinforcement learning algorithm in R...

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IEEE Conference on Control technology and Applications (CCTA)

作者： Li Shi Yao Jinyi Ye Zhen Sun Zengqi Department of Computer Science The State Key Laboratory of Intelligent Technology & Systems Tsinghua University Beijing China

In order to achieve the competition tasks for multicooperating robots through learning, the paper discusses a kind of method that is designed for multi-agent systems (MAS), called the multi-reward fuzzy Q-learning algorithm (MRFQLA), which can be applied to the environment of the Robot World Cup Tournament (RoboCup). In MRFQLA., multiple reinforcement functions are established, based on the different characters of multi-agent systems. When the learning robot executes an action, these functions create multiple reinforcement signals that give the criteria of this action from different points of view. A Takagi-Sugeno (TS) model of a fuzzy inference system is built, which integrates these multiple rewards into one signal as the feedback of the learning robot. This method enhances the efficiency of learning because multiple rewards increase TD error and eliminates the conflict between the short-term target and the long-term one. Computer simulations in the RoboCup environment are shown and a discussion is given.

关键词： Learning Robots Multiagent systems Fuzzy systems Design methodology Algorithm design and analysis Takagi-Sugeno model Feedback Computer errors Computer simulation

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Offline handwritten numeral recognition using orthogonal Gaussian mixture model

Offline handwritten numeral recognition using orthogonal Gau...

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IEEE International Conference on Image Processing

作者： Rui Zhang Xiaoqing Ding Department of Electronic Engineering State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing China

In the statistical approach to offline handwritten numeral recognition, we use the Gaussian mixture model (GMM) to approximate arbitrary class conditional probability density. For simplification, the GMM is assumed to be diagonal covariance matrices. In the case of the features of handwritten numerals being correlated statistically, a large number of mixture components are usually needed to obtain a good approximation. To solve this problem, the feature vectors are first transformed to the space spanned by the eigenvectors of the covariance matrix so that the correlation among the elements is reduced, namely orthogonal transformation. This GMM is defined as orthogonal Gaussian mixture model (OGMM). Finally, the effectiveness of this algorithm is demonstrated by applying it to the NIST database.

关键词： Handwriting recognition Probability Computer vision Covariance matrix Bayesian methods Maximum likelihood estimation Gaussian distribution Feature extraction Principal component analysis Laboratories

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Learning competition in robot soccer game based on an adapted neuro-fuzzy inference system

Learning competition in robot soccer game based on an adapte...

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IEEE International Symposium on intelligent Control (ISIC)

作者： Li Shi Chen Jiang Ye Zhen Sun Zengqi Department of Computer Science The State Key Laboratory of Intelligent Technology & Systems Tsinghua University Beijing China

RoboCup is a worldwide popular research domain. Because of the complexity of the systems, how to describe cooperation and competition between agents is a great challenge in the RoboCup Simulation Game. On one hand, the rich experience of a human soccer player is of great service to the robot players. On the other hand, the difference between the simulation game and the real game make it a must to fit the transcendental knowledge into the new environment. Commonly used reinforcement learning is weak in utilizing transcendental knowledge, thus is limited in complex multi-agent system learning problems. The paper puts forward a supervised learning method on the basis of the adapted neuro-fuzzy inference system (ANFIS) for mapping the competition among the robots. This method can build an ANFIS according to experts' knowledge, and with data obtained in the simulation environment. It can establish a correct map to describe the competition among the robots. We use this method to describe the antagonization between the shooter and goalie, and have successfully applied it in the RoboCup Simulation Game to build the champion team in RoboCup 2000 of China.

关键词： Robot kinematics intelligent robots Humans Games Neural networks Supervised learning Artificial intelligence Learning systems Multi-layer neural network Feedforward neural networks

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Offline handwritten character recognition based on discriminative training of orthogonal Gaussian mixture model

Offline handwritten character recognition based on discrimin...

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International Conference on Document Analysis and Recognition

作者： Rui Zhang Xiaoqing Ding Jiayong Zhang State Key Laboratory of Intelligent Technology and Systems Department of Electronic Engineering Tsinghua University Beijing China

ISBN: (纸本)0769512631

The statistical approach to offline handwritten character recognition, in which classifier design is very important, has been used widely. To approximate the class conditional density more precisely, it can be represented by an orthogonal Gaussian mixture model (OGMM). The parameters of the OGMM are commonly estimated by an expectation-maximization algorithm (EM), which converges to the maximum likelihood estimation (MLE). Since the MLE cannot directly minimize the classification errors as the goal of classifier design, a discriminative training method based on the minimum classification error (MCE) criterion is used to adjust the parameters of the OGMM. In order to achieve good generalization, the complexity of the classifier, namely the number of components in the OGMM, is determined by following the structure risk minimization (SRM) principle. Finally, the recognition performance is demonstrated by applying it to the handwritten numerals in the NIST database.

关键词： Character recognition Maximum likelihood estimation Handwriting recognition Design methodology Laboratories intelligent systems Expectation-maximization algorithms Risk management NIST Databases

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An automatic performance evaluation method for document page segmentation

An automatic performance evaluation method for document page...

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International Conference on Document Analysis and Recognition

作者： Liangrui Peng Ming Chen Changsong Liu Xiaoqing Ding Jirong Zheng State Key Laboratory of Intelligent Technology and Systems Department of Electronic Engineering Tsinghua University Beijing China

ISBN: (纸本)0769512631

Automatic performance evaluation for a document page segmentation module is necessary, as OCR products are used to manipulate large scale of documents with complex layout, especially for newspapers. The paper presents a region-based method to evaluate the performance of a page segmentation module by analyzing geometric region relationships between the segmentation results and the preset ground-truth. The ground-truth is not only the correct answer to page segmentation, but also the comparison benchmark of the automatic evaluation, so it has more restricted geometric constraints. The region-matching algorithm is realized by searching the equal region in the segmentation results for each region in the ground-truth. The performance parameters are calculated based on the matching results. An experiment is given to test two page segmentation modules in a popular Chinese OCR product-THOCR2000, and the results show this method is effective.

关键词： Image segmentation Optical character recognition software Large-scale systems Performance analysis Pixel Laboratories intelligent systems Benchmark testing System performance Error analysis

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Experiments in learning models for functional chunking of Chinese text

Experiments in learning models for functional chunking of Ch...

引用

IEEE International Conference on systems, Man and Cybernetics

作者： E.F. Drabek Qiang Zhou The State Key Laboratory of Intelligent Technology and Systems Department of Computer Science Tsinghua University Beijing China

This paper introduces a system of chunk-like annotation to describe Chinese predicate-argument structures, and describes some of our work in developing learned models for automatically annotating fresh text according to this system. The annotation is very similar in form to other chunking systems, except that chunks are defined not bottom-up but top-down, in terms of relationship to a main predicate. Bottom-up parsing of these structures seems to require great consideration of structural information and long-distance influences. Explicit representation of chunk structure during parsing allows us to provide more informative features, and experiments show that these give significant improvements in performance.

关键词： Information analysis Natural languages Laboratories intelligent systems intelligent structures Computer science Information retrieval Robustness Search problems Target recognition

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Neural networks control structure for manipulators with flexible last link

Neural networks control structure for manipulators with flex...

引用

Proceedings 2001 IEEE/RSJ International Conference on intelligent Robots and systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

作者： Wu Licheng Sun Zengqi Sun Fuchun State Key Laboratory of Intelligent Technology and Systems Department of Computer Science and Technoloa Tsinghua University Beijing China

A novel neural networks control structure for manipulators with flexible last link was proposed The manipulator with flexible last link was regarded as two parts: the flexible latter part (FLP) that includes the last joint and the last link, and the rigid former part (RFP), i.e. the rest. The kinematical and dynamic equations of the two parts were derived apart. The proposed control approach combines organically a conventional model-based controller with a neural networks controller. The neural networks approximate the dynamic anti-model of FLP and decompose the desired trajectory of end point into two parts, desired trajectory of axis of the last joint and desired outer corner of the last joint. Those would be realized by conventional controllers. By combining, the approach has not only solved the problem of nonlinearity and calculation inefficiency of the dynamic model of a flexible manipulator but also lessen greatly the size of the neural network and thus improve the convergence speed The proposed approach achieves fine control effect on the emulation with a three links planar manipulator with a flexible last link.

关键词： Neural networks Manipulator dynamics Torque control Sun Convergence Space technology Laboratories intelligent systems Equations Emulation

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