一种桌面机器人及其自主地图绘制算法

利用嵌入式技术设计了一种桌面机器人系统,机器人体积不到200 cm3,系统利用全局摄像机采集图像,通过无线通信组件对机器人定位导航,从而进行面向地图绘制的智能行为研究;从桌面机器人系统采集到地图信息,并生成神经网络训练样本,利用可增长自组织特征映射图GSOM(Growing Self-organizing Map)的地图绘制算法,通过不断增加新的神经元实现网络规模的增长,从而生成以少数SOM图神经元分布描述环境特征信息的拓扑地图;在机器人系统上进行了基于GSOM模型的自主地图的绘制实验,并利用所得拓扑地图进行了准确的机器人导航实验.实验结果表明基于GSOM的自主地图绘制方法可行,机器人系统表现出类似生物的自主智能行为.该方法可以应用于大环境下机器人的自主地图测绘与导航.     

双目立体视觉和GSOM相结合的机器人自主地图构建方法

双目立体视觉和自组织可增长特征映射图GSOM(Growing Self-organizing Map)相结合的机器人地图构建方法首先利用双目立体摄像机采集图像,借助双目立体视觉处理技术,将采集到的图像信息转化成神经网络的训练样本;然后利用GSOM的地图绘制算法,通过不断增加新的神经元实现网络规模的增长,用441个SOM神经元便表示了2000个样本点的环境特征信息的拓扑地图,体现了对输入样本分布的逼近特性;实验结果表明双目立体视觉和GSOM相结合的机器人自主地图构建方法可行,并表现出类似生物的自主智能行为。     

利用自组织特征映射神经网络进行可视化聚类

自组织特征映射作为一种神经网络方法,在数据挖掘、机器学习和模式分类中得到了广泛的应用。它将高维输人空间的数据映射到一个低维、规则的栅格上,从而可以利用可视化技术探测数据的固有特性。该文说明了自组织特征映射神经网络的工作原理和具体实现算法,同时利用一个算例展示了利用自组织特征映射进行聚类时的可视化特性,包括聚类过程的可视化和聚类结果的可视化,这也是自组织特征映射得到广泛应用的原因之一。     

基于改进的自组织映射网络的遥感影像融合研究

多源遥感影像融合是富集遥感海量数据的最有价值的技术手段。本文给出了一种新的基于改进的自组织映射网络的遥感影像融合模型。选择浙江绍兴为典型研究区，以Landsat TM(10m)与SPOT-4 Pan(10m)融合数据为例，进行了融合实验与分析。实验结果表明，应用基于改进的自组织映射网络模型进行融合，分类融合结果较好，较基于基本自组织映射网络的影像融合分类精度提高约8％。     

一种高效的自组织特征映射图的初始化方法

自组织特征映射图算法(SOFM,self-organizing Feature Map)在模式识别中有着广泛的应用.本文首先讨论了网络结构的初始化设置对自组织特征映射图构造的影响以及加速SOFM网络学习训练过程的主要方法,然后提出一种从边界到中心的自组织特征映射图初始化方法,该方法形成的自组织特征映射图能够真实地表示输入样本内在关系,大大减少学习训练次数,从而有效改进了传统的SOFM算法.     

基于SSOM的网络流量分类方法

针对目前基于端口号匹配和特征码识别的流量分类方法准确率低、应用范围受限等问题,提出一种基于有监督的自组织映射(SSOM)的网络流量分类方法。该方法使用已标注类别的网络流量训练集,通过改变自组织映射(SOM)训练过程中的权值调整规则,使输出层中获胜神经元的选择更容易,各类别之间划分更清晰,从而提高分类性能。实验结果表明,SSOM的分辨率及拓扑连续性均优于SOM,对网络流量分类具有更高的准确率。     

基于多维自组织特征映射的聚类算法研究

作为神经网络的一种方法,自组织特征映射在数据挖掘、模式分类和机器学习中得到了广泛应用.本文详细讨论了自组织特征映射的聚类算法的工作原理和具体实现算法.通过系统仿真实验分析,SOFMF算法很好地克服了许多聚类算法存在的问题,在时间复杂度上具有良好的性能.     

数据挖掘中聚类算法研究

聚类分析是数据挖掘领域中一个非常热门的研究课题,应用于各个领域的聚类算法非常多。本文介绍了衡量聚类算法性能的几个指标,对聚类分析进行了分类,列举了每类中典型的聚类算法,重点分析了神经网络中的自组织特征映射(SOM)算法。最后提及了聚类分析方法的应用范围以及今后需要解决的问题和发展方向。     

基于SOFM网络的聚类分析

基于自组织特征映射网络的聚类分析,是在神经网络基础上发展起来的一种新的非监督聚类方法,分析了基于自组织特征映射网络聚类的学习过程,分析了权系数自组织过程中邻域函数和学习步长的一般取值问题,给出了基于自组织特征映射网络聚类实现的具体算法,并通过实际示例测试,证实了算法的正确性。     

基于混合AIS/SOM的入侵检测模型

针对异常检测信息获取不足的缺点,提出基于混合人工免疫系统(AIS)/自组织映射(SOM)的入侵检测模型。该模型采用人工免疫系统检测网络异常,对检测到的异常连接用自组织映射进行分类,应用KDDCUP99实验数据集进行仿真。结果表明该检测方法是有效的,能够将检测到的异常连接分类并给出异常连接的更多信息,检测和分类效率较高、误报率低。     

Control of Nonlinear Systems Using a Self-Organising Neural Network

Two applications of Self Organising Map (SOM) networks in the context of nonlinear control are introduced, one in approximate feedback linearisation and the second in optimal control. It is shown that a modified SOM can be used to approximately Input/Output (I/O) linearise and to control nonlinear systems using a combination of the SOM learning algorithm, and a biologically inspired optimisation algorithm known as chemotaxis. A proof to guarantee the stability of the closed loop during the training of the network and the operation of the whole system is included. The results are illustrated with simulations of a single link manipulator.     

Controlling the spread of dynamic self-organising maps

The growing self-organising map (GSOM) has recently been proposed as an alternative neural network architecture based on the traditional self-organising map (SOM). The GSOM provides the user with the ability to control the spread of the map by defining a parameter called the spread factor (SF), which results in enhanced data mining and hierarchical clustering opportunities. When experimenting with the SOM, the grid size (number of rows and columns of nodes) can be changed until a suitable cluster distribution is achieved. In this paper we highlight the effect of the spread factor on the GSOM and contrast this effect with grid size change (increase and decrease) in the SOM. We also present experimental results in support of our claims regarding differences between GSOM and SOM.     

An integrated framework for visualized and exploratory pattern discovery in mixed data

Data mining uncovers hidden, previously unknown, and potentially useful information from large amounts of data. Compared to the traditional statistical and machine learning data analysis techniques, data mining emphasizes providing a convenient and complete environment for the data analysis. In this paper, we propose an integrated framework for visualized, exploratory data clustering, and pattern extraction from mixed data. We further discuss its implementation techniques: a generalized self-organizing map (GSOM) and an extended attribute-oriented induction (EAOI), which not only overcome the drawbacks of their original algorithms, but also provide additional analysis capabilities. Specifically, the GSOM facilitates the direct handling of mixed data, including categorical and numeric values. The EAOI enables exploration for major values hidden in the data and, in addition, offers an alternative for processing numeric attributes, instead of generalizing them. A prototype was developed for experiments with synthetic and real data sets, and comparison with those of the traditional approaches. The results confirmed the feasibility of the framework and the superiority of the extended techniques.     

Neural Networks to model the innovativeness perception of co-creative firms

Value co-creation is an emerging business, marketing and innovation paradigm describing the firms aptitude to adopt practices enabling their customers to become active participants in the design and development of personalised products, services and experiences. The main objective of our contribution is to make a quantitative analysis in order to assess the relationship between value co-creation and innovation in technology-driven firms: we are using Artificial Neural Network (ANN) to investigate the relationship between value co-creation and innovativeness, and Self Organising Map (SOM) models to cluster firms in terms of their degree of involvement in co-creation and innovativeness. Results from the ANN show that a strong relationship exists between value co-creation and innovativeness; furthermore, SOM are well performing in identifying cluster of firms that are more involved in co-creation values. Our work makes a methodological contribution by adopting and validating a combination of techniques that is able to address complexity and emergence in value co-creation systems.     

A hybrid artificial immune system and Self Organising Map for network intrusion detection

Network intrusion detection is the problem of detecting unauthorised use of, or access to, computer systems over a network. Two broad approaches exist to tackle this problem: anomaly detection and misuse detection. An anomaly detection system is trained only on examples of normal connections, and thus has the potential to detect novel attacks. However, many anomaly detection systems simply report the anomalous activity, rather than analysing it further in order to report higher-level information that is of more use to a security officer. On the other hand, misuse detection systems recognise known attack patterns, thereby allowing them to provide more detailed information about an intrusion. However, such systems cannot detect novel attacks.A hybrid system is presented in this paper with the aim of combining the advantages of both approaches. Specifically, anomalous network connections are initially detected using an artificial immune system. Connections that are flagged as anomalous are then categorised using a Kohonen Self Organising Map, allowing higher-level information, in the form of cluster membership, to be extracted. Experimental results on the KDD 1999 Cup dataset show a low false positive rate and a detection and classification rate for Denial-of-Service and User-to-Root attacks that is higher than those in a sample of other works.     

Dynamic self-organizing maps with controlled growth for knowledgediscovery

The growing self-organizing map (GSOM) algorithm is presented in detail and the effect of a spread factor, which can be used to measure and control the spread of the GSOM, is investigated. The spread factor is independent of the dimensionality of the data and as such can be used as a controlling measure for generating maps with different dimensionality, which can then be compared and analyzed with better accuracy. The spread factor is also presented as a method of achieving hierarchical clustering of a data set with the GSOM. Such hierarchical clustering allows the data analyst to identify significant and interesting clusters at a higher level of the hierarchy, and continue with finer clustering of the interesting clusters only. Therefore, only a small map is created in the beginning with a low spread factor, which can be generated for even a very large data set. Further analysis is conducted on selected sections of the data and of smaller volume. Therefore, this method facilitates the analysis of even very large data sets.     

SOM结合MLP的神经网络语音识别系统

提出一种结合自组织特征映射（Ｓｅｌｆ－ｏｒｇａｎｉｚｉｎｇＦｅａ－ｔｕｒｅＭａｐ，ＳＯＭ）和多层感知器（ＭｕｌｔｉｌａｙｅｒＰｅｒｃｅｐｔｒｏｎ，ＭＬＰ）的神经网络语音识别系统，该系统有较好的识别效果     

Classifying spatiotemporal object trajectories using unsupervised learning in the coefficient feature space

This paper proposes a novel technique for clustering and classification of object trajectory-based video motion clips using spatiotemporal function approximations. Assuming the clusters of trajectory points are distributed normally in the coefficient feature space, we propose a Mahalanobis classifier for the detection of anomalous trajectories. Motion trajectories are considered as time series and modelled using orthogonal basis function representations. We have compared three different function approximations – least squares polynomials, Chebyshev polynomials and Fourier series obtained by Discrete Fourier Transform (DFT). Trajectory clustering is then carried out in the chosen coefficient feature space to discover patterns of similar object motions. The coefficients of the basis functions are used as input feature vectors to a Self- Organising Map which can learn similarities between object trajectories in an unsupervised manner. Encoding trajectories in this way leads to efficiency gains over existing approaches that use discrete point-based flow vectors to represent the whole trajectory. Our proposed techniques are validated on three different datasets – Australian sign language, hand-labelled object trajectories from video surveillance footage and real-time tracking data obtained in the laboratory. Applications to event detection and motion data mining for multimedia video surveillance systems are envisaged.     

一种基于SOM和PAM的聚类算法

提出了一种基于自组织映射（SOM）算法和围绕中心点的划分（PAM）算法相结合的SOM-PAM聚类算法。该算法首先利用SOM算法对数据集进行“粗聚类”并得到簇数k；然后，根据簇数k再利用PAM算法对“粗聚类”结果进行聚类并得到最终聚类结果。通过实验表明，SOM-PAM算法具有比SOM算法更高的聚类效率和更好的聚类质量。