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1.
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  相似文献   
2.
It has recently been shown that authenticated Byzantine agreement, in which more than a third of the parties are corrupted, cannot be securely realized under concurrent or parallel (stateless) composition. This result puts into question any usage of authenticated Byzantine agreement in a setting where many executions take place. In particular, this is true for the whole body of work of secure multi-party protocols in the case that a third or more of the parties are corrupted. This is because these protocols strongly rely on the extensive use of a broadcast channel, which is in turn realized using authenticated Byzantine agreement. We remark that it was accepted folklore that the use of a broadcast channel (or authenticated Byzantine agreement) is actually essential for achieving meaningful secure multi-party computation whenever a third or more of the parties are corrupted. In this paper we show that this folklore is false. We present a mild relaxation of the definition of secure computation allowing abort. Our new definition captures all the central security issues of secure computation, including privacy, correctness and independence of inputs. However, the novelty of the definition is in decoupling the issue of agreement from these issues. We then show that this relaxation suffices for achieving secure computation in a point-to-point network. That is, we show that secure multi-party computation for this definition can be achieved for any number of corrupted parties and without a broadcast channel (or trusted pre-processing phase as required for running authenticated Byzantine agreement). Furthermore, this is achieved by just replacing the broadcast channel in known protocols with a very simple and efficient echo-broadcast protocol. An important corollary of our result is the ability to obtain multi-party protocols that remain secure under composition, without assuming a broadcast channel.  相似文献   
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The evolutionary design can produce fast and efficient implementations of digital circuits. It is shown in this paper how evolved circuits, optimized for the latency and area, can increase the throughput of a manually designed classifier of application protocols. The classifier is intended for high speed networks operating at 100 Gbps. Because a very low latency is the main design constraint, the classifier is constructed as a combinational circuit in a field programmable gate array (FPGA). The classification is performed using the first packet carrying the application payload. The improvements in latency (and area) obtained by Cartesian genetic programming are validated using a professional FPGA design tool. The quality of classification is evaluated by means of real network data. All results are compared with commonly used classifiers based on regular expressions describing application protocols.  相似文献   
5.
应用遗传算法求解第一价格封闭组合拍卖问题,编码及约束条件复杂,在交叉和变异的过程中容易产生大量不可行解,并且在选择和精英保留中,一些局部最优点(早熟点)对应的个体容易被大量复制,使群体多样性下降。该文就以上的问题,改进了原有遗传算法求解组合拍卖最优竞胜标的方法,并采用了猴王遗传算法的精英保留策略。实际计算证明本算法编码方式自然并且直观表达了个体和标的的关系。在交叉和变异算子中,产生不可行解的数量下降,更积极的保存了上一代进化的部分成果。而改进猴王遗传算法的精英保留策略,使算法能够以高概率跳出早熟,达到算法速度与准确的平衡。  相似文献   
6.
对文本特征选择的传统方法进行了深入分析并对各自的优缺点进行了详细的对比;其次,通过利用遗传算法自身的寻优特点,把它与传统特征选择方法相结合,并得出了算法。最后,在对各自算法进行了分析,表明了在性能上有了明显的提高。  相似文献   
7.
In this paper, we consider randomly failing equipment leased several times during their life cycle with a given warranty period. A mathematical model is developed to determine the optimal efficiency levels of preventive maintenance (PM) to be performed on the equipment between successive lease periods, maximising the expected total profit of the lessor over the equipment life cycle. The model considers the expected leasing revenue as well as the equipment acquisition cost and the average PM and repair costs. PM actions allow reducing the age of the equipment to a certain extent with a corresponding cost depending on the PM level adopted. The efficiency of the PM is determinant of the expected revenue during the next lease period. Given a set of K possible PM levels and the number of lease periods n over the equipment life cycle, Kn?1 PM strategies are possible. A genetic algorithm is proposed in order to obtain nearly optimal policies in situations where the number of possibilities Kn?1 is very high. Obtained numerical results are discussed. Small- and big-size instances of the problem are considered in the case of a service company in the oil and gas industry specialised in leasing specific equipment such as separators, to oil companies for production activities with a limited duration of several months like well testing or short production tests.  相似文献   
8.
A variety of computational tasks in early vision can be formulated through lattice networks. The cooperative action of these networks depends upon the topology of interconnections, both feedforward and recurrent ones. The Gabor-like impulse response of a 2nd-order lattice network (i.e. with nearest and next-to-nearest interconnections) is analysed in detail, pointing out how a near-optimal filtering behaviour in space and frequency domains can be achieved through excitatory/inhibitory interactions without impairing the stability of the system. These architectures can be mapped, very efficiently at transistor level, on VLSI structures operating as analogue perceptual engines. The hardware implementation of early vision tasks can, indeed, be tackled by combining these perceptual agents through suitable weighted sums. Various implementation strategies have been pursued with reference to: (i) the algorithm-circuit mapping (current-mode and transconductor approaches); (ii) the degree of programmability (fixed, selectable and tunable); and (iii) the implementation technology (2 and 0.8 gate lengths). Applications of the perceptual engine to machine vision algorithms are discussed.  相似文献   
9.
fKenzo (=friendly Kenzo) is a graphical user interface providing a user-friendly front-end for the Kenzo system, a Common Lisp program devoted to Algebraic Topology. The fKenzo system provides the user interface itself, an XML intermediary generator-translator and, finally the Kenzo kernel. We describe in this paper the main points of fKenzo, and we explain also the advantages and limitations of fKenzo with respect to Kenzo itself. The text is separated into two parts, trying to cover both the user and the developer perspectives.  相似文献   
10.
Photographic supra-projection is a forensic process that aims to identify a missing person from a photograph and a skull found. One of the crucial tasks throughout all this process is the craniofacial superimposition which tries to find a good fit between a 3D model of the skull and the 2D photo of the face. This photographic supra-projection stage is usually carried out manually by forensic anthropologists. It is thus very time consuming and presents several difficulties. In this paper, we aim to demonstrate that real-coded evolutionary algorithms are suitable approaches to tackle craniofacial superimposition. To do so, we first formulate this complex task in forensic identification as a numerical optimization problem. Then, we adapt three different evolutionary algorithms to solve it: two variants of a real-coded genetic algorithm and the state of the art evolution strategy CMA-ES. We also consider an existing binary-coded genetic algorithm as a baseline. Results on several superimposition problems of real-world identification cases solved by the Physical Anthropology lab at the University of Granada (Spain) are considered to test our proposals.  相似文献   
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