6417534
Decentralized adaptive fuzzy control of robot manipulators
This paper develops a decentralized adaptive fuzzy control scheme for robot manipulators via a combination of genetic algorithm and gradient method. The controller for each link consists of a feedforward fuzzy torque-computing system and a feedback fuzzy PD system. The feedforward fuzzy system is trained and optimized off-line by an improved genetic algorithm, that is to say, not only the parameters but also the structure of the fuzzy system are self-organized. Because genetic algorithm can operate successfully without the system model, no exact inverse dynamics of the robot system are required. The feedback fuzzy PD system, on the other hand, is tuned on-line using gradient method. In this way, the proportional and derivative gains are adjusted properly to keep the closed-loop system stable. The proposed controller has the following merits: (1) it needs no exact dynamics of the robot systems and the computation is time-saving because of the simple structure of the fuzzy systems; and (2) the controller is insensitive to various dynamics and payload uncertainties in robot systems. These are demonstrated by analyses of the computational complexity and various computer simulations.
8331628
On Test Functions for Evolutionary Multi-objective Optimization
In order to evaluate the relative performance of optimization algorithms benchmark problems are frequently used. In the case of multi-objective optimization (MOO), we will show in this paper that most known benchmark problems belong to a constrained class of functions with piecewise linear Pareto fronts in the parameter space. We present a straightforward way to define benchmark problems with an arbitrary Pareto front both in the fitness and parameter spaces. Furthermore, we introduce a difficulty measure based on the mapping of probability density functions from parameter to fitness space. Finally, we evaluate two MOO algorithms for new benchmark problems.
4516847
Incorporation Of Fuzzy Preferences Into Evolutionary Multiobjective Optimization
A method for incorporating fuzzy preferences into evolutionary multiobjective optimization is proposed. Fuzzy preferences are converted into interval-based weights instead of single-valued crisp weights. The weight intervals are combined with the evolutionary dynamic weighted aggregation to obtain the preferred Pareto-optimal solutions.
11319753
Fitness Approximation In Evolutionary Computation - a Survey
Fitness evaluation is a basic operation in evolutionary computation. However, an explicit fitness function is not always available in real-world applications. In many cases, it is necessary to estimate the fitness function by constructing an approximate model. In this paper, a short survey on fitness approximation in evolutionary computation is given. Main issues like approximation models, model management schemes, learning methods as well as data sampling techniques are presented. Finally, interesting open problems are discussed.
15005988
Co-evolutionary modular neural networks for automatic problem decomposition
Decomposing a complex computational problem into sub-problems, which are computationally simpler to solve individually and which can be combined to produce a solution to the full problem, can efficiently lead to compact and general solutions. Modular neural networks represent one of the ways in which this divide-and-conquer strategy can be implemented. Here we present a co-evolutionary model which is used to design and optimize modular neural networks with task-specific modules. The model consists of two populations. The first population consists of a pool of modules and the second population synthesizes complete systems by drawing elements from the pool of modules. Modules represent a part of the solution, which co-operates with others in the module population to form a complete solution. With the help of two artificial supervised learning tasks created by mixing two sub-tasks we demonstrate that if a particular task decomposition is better in terms of performance on the overall task, it can be evolved using this co-evolutionary model.
5797189
Efficient Hierarchical Parallel Genetic Algorithms using Grid computing
In this paper, we present an efficient Hierarchical Parallel Genetic Algorithm framework using Grid computing (GE-HPGA). The framework is developed using standard Grid technologies, and has two distinctive features: (1) an extended GridRPC API to conceal the high complexity of the Grid environment, and (2) a metascheduler for seamless resource discovery and selection. To assess the practicality of the framework, a theoretical analysis of the possible speed-up offered is presented. An empirical study on GE-HPGA using a benchmark problem and a realistic aerodynamic airfoil shape optimization problem for diverse Grid environments having different communication protocols, cluster sizes, processing nodes, at geographically disparate locations also indicates that the proposed GE-HPGA using Grid computing offers a credible framework for providing a significant speed-up to evolutionary design optimization in science and engineering.
6346685
Towards robust head tracking by particles
The paper presents a robust multi-feature head tracker using importance sampling particle filter with automatic head detection for video surveillance applications. Automatic head detection is based on moving region contour analysis using constraints of head shape and curvature scale space corner detector is introduced to segment contours. Due to the automatic head detection, we propose to exploit detected head shape cue to guide the sampling using importance sampling particle filter and individualized colour and edge features are fused for measurement. Experimental results demonstrate the robustness of the proposed head tracker.
13376924
Enumeration for spanning forests of complete bipartite graphs
16978884
2-D Shape Recognition using Recursive Landmark Determination and Fuzzy ART Network Learning
In this Letter, 2-D shape recognition is done using a combination of recursive search of landmarks, landmark-based invariant features, and a fuzzy ART neural-network classifier. To make this novel combination work well, an upper limit is imposed on the number of total landmarks allowed, and this maximum size is then translated into fixed dimensions of invariant features and into the neural processing of the features. It is shown that the recursive landmark search approximates very well any smooth 2-D shape contour, that the shape features used are independent of perspective transformation, and that, when combinedwitha fuzzy ART classifier, unknown features can be efficiently learned on-line to identify multiple distinct objects. An illustrative example is used to demonstrate effectiveness of the proposed algorithm.
5139043
Representing Beliefs in the Fluent Calculus
Action formalisms like the fluent calculus have been developed to endow logic-based agents with the abilities to reason about the effects of actions, to execute high-level strategies, and to plan. In this paper we extend the fluent calculus by a method for belief change, which allows agents to revise their internal model upon making observations that contradict this model. Unlike the existing combination of the situation calculus with belief revision [16], our formalism satisfies all of the standard postulates for (iterated) belief change. Furthermore, we have extended the high-level action programming language FLUX by a computational approach to belief change which is provably equivalent to the axiomatic characterization in the fluent calculus.
13229821
Relational subscription middleware for Internet-scale publish-subscribe
We present a design of a distributed publish-subscribe system that extends the functionality of messaging middleware with "relational subscriptions", to support timely updates to state derived from published messages while preserving high throughput, scalability, and reliability.Critical to our design is our service guarantee of "eventual correctness". Eventual correctness is a weaker guarantee than the ACID properties of conventional databases, yet is useful enough to deliver state that is "just consistent enough".A key component of our design is a monotonic type system. All states delivered to clients represent facts that are permanently true, that may be refined by future updates, but will never become false. The monotonic type system is used both to formalize eventual correctness, and as a basis for our implementation, which generalizes the "Guaranteed Delivery" protocol previously implemented in the Gryphon system.We discuss: (1) our monotonic type system and relational subscription language; (2) eventual correctness; (3) the architecture of our implementation; (4) potential optimizations that form a basis for future studies.