Artificial neural networks for coordination and control: The portability of experiential representations

It is time to locate connectionist representation theory in the new wave of robotics research. The utility of representations developed in artificial neural networks (ANNs) during learning has been demonstrated in cognitive science research since the 1980s. The research reported here puts learned representations to work in a decentered control task, the disembodied arm problem, in which a mobile robot operates an arm fixed to a table to pick up objects. There is no physical linkage between the arm and the robot and so the robot's point of view must be decentered. This is done by developing a modular Artificial Neural Net system in three stages: (i) a classifier net is trained with laser scan data to output transformationally invariant position classes; (ii) an arm net is trained for picking up objects; (iii) an inter net is trained to communicate and coordinate the sensing and acting. The completed system is shown to create new nonsymbolic transformationally invariant representations in order to perform the effective generalization of decentered viewpoints.     

新型实用布线算法──L─M算法

本文提出新型布线算法，集李氏迷宫法与线搜索法的长处为一体，以饱和带法进行动态排序，以线搜索法确定借孔位置，然后用李氏法进行单层布线，获得最佳路径，从而达到线型好，布通率高的效果。     

一种自动布线方法：多级线探索法

本文介绍了一种在微机上实现的印制板自动布线方法──多级线探索法及其编程方法。这种方法是基于完备布线算法的概念，通过分析李氏算法和传统线探索法的不足之处而得到的。虽然它也是一种线探索法，但有较传统线探索法更强的探索能力，不需要结合李氏算法而能单独完成布线任务，是一种较理想的算法，通过实验获得了较为满意的效果。     

Software for dynamic reconfigurable order picking systems

This paper describes an approach, conceptual framework, and software architecture for dynamic reconfiguration of the order picking system. The research and development project was sponsored by the Material Handling Research Center (MHRC), a National Science Foundation sponsored Cooperative Industry/University Research Center. The storage configuration is assumed to be an in-the-aisle order picking system in which stockkeeping units (SKUs) can occupy variable capacity storage locations and stock-splitting is allowed among zones (clusters). The product mix may include multiple product families with different life cycles, correlated demand within families and commonality of demand across families.     

Self-learning inductive inference machines

Self-knowledge is a concept that is present in several philosophies. In this article, we consider the issue of whether or not a learning algorithm can in some sense possess self-knowledge. The question is answered affirmatively. Self-learning inductive inference algorithms are taken to be those that learn programs for their own algorithms, in addition to other functions.
La connaissance de soi est un concept qui se retrouve dans plusieurs philosophies. Dans cet article, les auteurs s'interrogent à savoir si un algorithme d' apprentissage peut dans une certaine mesure posséder la connaissance de soi. lis apportent une reponse positive a cette question. Les algorithmes d'inference inductive autodidactes sont ceux qui font l'apprentissage de programmes pour leurs propres algorithmes, en plus d' autres fonctions.     

Hierarchical intelligent control with flexible AC transmission systems application

A novel hierarchical intelligent controller configuration is proposed using an artificial neural network as a control-mode classifier in the supervisory level and a set of pre-designed controllers in the lower level. Controller outputs are modified nonlinearly by the classifying signals in a structure resembling one artificial neuron with adaptively changed weights. The lower-level local controllers are implemented using neural networks. An illustrative example of this approach is based on the transient stabilization of a single-machine infinite-bus system studied in Flexible AC Transmission Systems (FACTS) research.     

Generation of adaptive gait patterns for quadruped robot with CPG network including motor dynamic model

This paper describes the generation of adaptive gait patterns using new Central Pattern Generators (CPGs) including motor dynamic models for a quadruped robot under various environments. The CPGs act as the flexible oscillators of the joints and adjust joint angles to required values. The CPGs are interconnected with each other and sets of their coupling parameters are adjusted by a genetic algorithm so that the quadruped robot can realize stable and adequate gait patterns. Generation of gait patterns results in the formation of the CPG networks suitable for the formation of not only a straight walking pattern but also of rotating gait patterns. Experimental results demonstrate that the proposed CPG networks are effective for the automatic adjustment of the adaptive gait patterns for the tested quadruped robot under various environments. Furthermore, the target tracking control based on image processing is achieved by combining the general gait patterns. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 155(1): 35–43, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20225     

On the design of multiple key hashing files for concurrent orthogonal range retrieval between two disks

This paper concerns the following problem: given a set of multi-attribute records, a fixed number of buckets and a two-disk system, arrange the records into the buckets and then store the buckets between the disks in such a way that, over all possible orthogonal range queries (ORQs), the disk access concurrency is maximized. We shall adopt the multiple key hashing (MKH) method for arranging records into buckets and use the disk modulo (DM) allocation method for storing buckets onto disks. Since the DM allocation method has been shown to be superior to any other allocation methods for allocating an MKH file onto a two-disk system for answering ORQs, the real issue is knowing how to determine an optimal way for organizing the records into buckets based upon the MKH concept.

A performance formula that can be used to evaluate the average response time, over all possible ORQs, of an MKH file in a two-disk system using the DM allocation method is first presented. Based upon this formula, it is shown that our design problem is related to a notoriously difficult problem, namely the Prime Number Problem. Then a performance lower bound and an efficient algorithm for designing optimal MKH files in certain cases are presented. It is pointed out that in some cases the optimal MKH file for ORQs in a two-disk system using the DM allocation method is identical to the optimal MKH file for ORQs in a single-disk system and the optimal average response time in a two-disk system is slightly greater than one half of that in a single-disk system.     

Application of the blind source separation method to feature extraction of machine sound signals

As the result of vibration emission in air, a machine sound signal carries important information about the working condition of machinery. But in practice, the sound signal is typically received with a very low signal-to-noise ratio. To obtain features of the original sound signal, uncorrelated sound signals must be removed and the wavelet coefficients related to fault condition must be retrieved. In this paper, the blind source separation technique is used to recover the wavelet coefficients of a monitored source from complex observed signals. Since in the proposed blind source separation (BSS) algorithms it is generally assumed that the number of sources is known, the Gerschgorin disk estimator method is introduced to determine the number of sound sources before applying the BSS method. This method can estimate the number of sound sources under non-Gaussian and non-white noise conditions. Then, the partial singular value analysis method is used to select these significant observations for BSS analysis. This method ensures that signals are separated with the smallest distortion. Afterwards, the time-frequency separation algorithm, converted to a suitable BSS algorithm for the separation of a non-stationary signal, is introduced. The transfer channel between observations and sources and the wavelet coefficients of the source signals can be blindly identified via this algorithm. The reconstructed wavelet coefficients can be used for diagnosis. Finally, the separation results obtained from the observed signals recorded in a semi-anechoic chamber demonstrate the effectiveness of the presented methods .