1877430
Mobile Robot Navigation Using Particle Swarm Optimization and Adaptive NN
This paper presents a novel design for mobile robot using particle swarm optimization (PSO) and adaptive NN control. The adaptive NN control strategy guarantees that robot with nonholonomic constraints can follow smooth trajectories. Based on this property, a PSO algorithm for path planning is proposed. The path planning generates smooth path with low computational cost to avoid obstacles, so that robot can use smooth control strategy to track the trajectory.
12730309
Adaptive Neural-Network Control for Redundant Nonholonomic Mobile Modular Manipulators
This paper discusses the trajectory following issue for redundant nonholonomic mobile modular manipulators. Dynamic model is established and an adaptive neural-network controller is developed to control the end-effector to follow a desired spacial trajectory. The proposed algorithm doesn't need any priori dynamics and provides a new solution for stabilization of redundant robotic self-motions. Simulation results for a real robot demonstrate the proposed algorithm is effective.
1356080
Obstacle Avoidance for Redundant Nonholonomic Mobile Modular Manipulators via Neural Fuzzy Approaches
This paper addresses an obstacle avoidance issue for redundant nonholonomic mobile modular manipulators. On the basis of modular robot concept, an integrated dynamic modeling method is proposed, which takes both the mobile platform and the onboard modular manipulator as an integrated structure. A new obstacle avoidance algorithm is proposed which is mainly composed of two parts: a self-motion planner (SMP) and a robust adaptive neural fuzzy controller (RANFC). One important feature of this algorithm lies in that obstacles are avoided by online adjusting self-motions so that the end-effector task will not be affected unless the obstacles are just on the desired trajectory. The RANFC does not rely on exact aprior dynamic parameters and can suppress bounded external disturbance effectively. The effectiveness of the proposed algorithm is verified by simulations.
46557593
A New Stochastic PSO Technique for Neural Network Training
Recently, Particle Swarm Optimization(PSO) has been widely applied for training neural network. To improve the performance of PSO for high-dimensional solution space which always occurs in training NN, this paper introduces a new paradigm of particle swarm optimization named stochastic PSO (S-PSO). The feature of the S-PSO is its high ability for exploration. Consequently, when swarm size is relatively small, S-PSO performs much better than traditional PSO in training of NN. Hence if S-PSO is used to realize training of NN, computational cost of training can be reduced significantly.
16004582
Formation Control for a Multiple Robotic System Using Adaptive Neural Network
Due to the limitations of sensors, each member of a decentralized system can only deal with local information respectively. A description of local relationship within formation pattern is proposed in this paper. Furthermore, a NN control approach with robust term is proposed to control individual motion. By using such individual control method, all robots will finally form a unique formation. Based on properties of such control strategy, we propose a modified artificial potential approach to realize obstacle avoidance.
27961753
Effective Algorithms for Tag Snp Selection
Single nucleotide polymorphisms (SNPs), due to their abundance and low mutation rate, are very useful genetic markers for genetic association studies. However, the current genotyping technology cannot afford to genotype all common SNPs in all the genes. By making use of linkage disequilibrium, we can reduce the experiment cost by genotyping a subset of SNPs, called Tag SNPs, which have a strong association with the ungenotyped SNPs, while are as independent from each other as possible. The problem of selecting Tag SNPs is NP-complete; when there are large number of SNPs, in order to avoid extremely long computational time, most of the existing Tag SNP selection methods first partition the SNPs into blocks based on certain block definitions, then Tag SNPs are selected in each block by brute-force search. The size of the Tag SNP set obtained in this way may usually be reduced further due to the inter-dependency among blocks. This paper proposes two algorithms, TSSA and TSSD, to tackle the block-independent Tag SNP selection problem. TSSA is based on A* search algorithm, and TSSD is a heuristic algorithm. Experiments show that TSSA can find the optimal solutions for medium-sized problems in reasonable time, while TSSD can handle very large problems and report approximate solutions very close to the optimal ones.
18109263
Automatically Acquiring Training Sets for Web Information Gathering
The traditional techniques rely on human effort to acquire training sets, which is expensive and inefficient. In this paper we present an alternative method to automatically acquire training sets without heavy investment of user efforts. The proposed method tends to fill a gap for effectiveness of using Web data in Web mining, and contributes to Web information gathering. The evaluation shows that the method is adequate to yield an promising achievement
15691197
Verifying OWL and ORL Ontologies in PVS
The Semantic Web vision is being realized to reach the full potential of the Web. Semantic data modeling is the foundation of the Semantic Web. The Web Ontology Language (OWL) and OWL Rules Language (ORL) provides basic machinery to the semantic mark-up for data. However, there is limited tool support for OWL and no tool support currently for ORL. In this paper, we propose to model OWL and ORL language semantics in PVS specification language so that OWL and ORL ontologies can be transformed and verified in the Prototype Verification System (PVS). PVS user-defined proof strategies are also developed to automate the proof process.
9911218
Design of efficiently encodable moderate-length high-rate irregular LDPC codes
This paper presents a new class of irregular low-density parity-check (LDPC) codes of moderate length (10/sup 3//spl les/n/spl les/10/sup 4/) and high rate (R/spl ges/3/4). Codes in this class admit low-complexity encoding and have lower error-rate floors than other irregular LDPC code-design approaches. It is also shown that this class of LDPC codes is equivalent to a class of systematic serial turbo codes and is an extension of irregular repeat-accumulate codes. A code design algorithm based on the combination of density evolution and differential evolution optimization with a modified cost function is presented. Moderate-length, high-rate codes with no error-rate floors down to a bit-error rate of 10/sup -9/ are presented. Although our focus is on moderate-length, high-rate codes, the proposed coding scheme is applicable to irregular LDPC codes with other lengths and rates.
6066153
Kernel Methods for Document Filtering
This paper describes the algorithms inplemented by the KerMIT consortium for its participation in the Trec 2002 Filtering track. The consortium submitted runs for the routing task using a linear SVM, for the batch task using the same SVM in combination with an innovation threshold-selection mechanism, and for the adaptive task using both a second-order perceptron and a combination of SVM and perceptron with uneven margin. Results seem to indicate that these algorithm performed relatively well on the extensive TREC benchmark.