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     

Evolutionary circuit design for fast FPGA-based classification of network application protocols

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.     

改进的猴王遗传算法求解组合拍卖最优竞胜标

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。     

遗传算法与文本特征选择方法相结合的研究

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。     

支持向量机序贯最小优化算法推导的改进

已有文献中的支持向量机SMO算法推导过程计算复杂,该文给出一个简洁推导。整个推导过程没有复杂的计算,除了误差函数外,不需引入其它中间变量。     

Optimal imperfect preventive maintenance policy for equipment leased during successive periods

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, K^{n?1 PM} strategies are possible. A genetic algorithm is proposed in order to obtain nearly optimal policies in situations where the number of possibilities K^n?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.     

An experimental study on the applicability of evolutionary algorithms to craniofacial superimposition in forensic identification

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.     

Time-local formulation and identification of implicit Volterra models by use of diffusive representation

We present a time-continuous identification method for nonlinear dynamic Volterra models of the form HX=f(u,X)+v with H, a causal convolution operator. It is mainly based on a suitable parameterization of H deduced from the so-called diffusive representation, which is devoted to state representations of integral operators. Following this approach, the complex dynamic nature of H can be summarized by a few numerical parameters on which the identification of the dynamic part of the model will focus. The method is validated on a physical numerical example.     

A Review of the Application of Meta-Heuristic Algorithms to 2D Strip Packing Problems

This paper is a review of the approachesdeveloped to solve 2D packing problems withmeta-heuristic algorithms. As packing tasks arecombinatorial problems with very large searchspaces, the recent literature encourages theuse of meta-heuristic search methods, inparticular genetic algorithms. The objective ofthis paper is to present and categorise thesolution approaches in the literature for 2Dregular and irregular strip packing problems.The focus is hereby on the analysis of themethods involving genetic algorithms. Anoverview of the methods applying othermeta-heuristic algorithms including simulatedannealing, tabu search, and artificial neuralnetworks is also given.     

Quantum analysis of measurement results

It is shown that a stochastic matrix operator (quantum measurement matrix) may be considered in some cases as a density matrix. Results of measurements in the form of figure numbers, interconnected with a matrix of quantum measurements, are similar to quantum observable quantities determined in quantum statistical theory. __________ Translated from Izmeritel’naya Tekhnika, No. 12, pp. 3–8, December, 2006.