Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.Category (5)     

Energy Norm shape A Posteriori Error Estimation for Mixed Discontinuous Galerkin Approximations of the Stokes Problem

In this paper, we develop the a posteriori error estimation of mixed discontinuous Galerkin finite element approximations of the Stokes problem. In particular, we derive computable upper bounds on the error, measured in terms of a natural (mesh-dependent) energy norm. This is done by rewriting the underlying method in a non-consistent form using appropriate lifting operators, and by employing a decomposition result for the discontinuous spaces. A series of numerical experiments highlighting the performance of the proposed a posteriori error estimator on adaptively refined meshes are presented.Paul Houston - Funded by the EPSRC (Grant GR/R76615). Thomas P. Wihler - Funded by the Swiss National Science Foundation (Grant PBEZ2-102321). This revised version was published online in July 2005 with corrected volume and issue numbers.     

A technique for evaluating and improving the semantic transparency of modeling language notations

Software and Systems Modeling - The notation of a modeling language is of paramount importance for its efficient use and the correct comprehension of created models. A graphical notation,...     

Competitive Location and Pricing on Networks with Random Utilities

In this paper we analyze the effect of including price competition into a classical (market entrant’s) competitive location problem. The multinomial logit approach is applied to model the decision process of utility maximizing customers. We provide complexity results and show that, given the locations of all facilities, a fixed-point iteration approach that has previously been introduced in the literature can be adapted to reliably and quickly determine local price equilibria. We present examples of problem instances that demonstrate the potential non-existence of price equilibria and the case of multiple local equilibria in prices. Furthermore, we show that different price sensitivity levels of customers may actually affect optimal locations of facilities, and we provide first insights into the performance of heuristic algorithms for the location problem.     

On the versatility of radial basis function neural networks: A case study in the field of intrusion detection

Classifiers based on radial basis function neural networks have a number of useful properties that can be exploited in many practical applications. Using sample data, it is possible to adjust their parameters (weights), to optimize their structure, and to select appropriate input features (attributes). Moreover, interpretable rules can be extracted from a trained classifier and input samples can be identified that cannot be classified with a sufficient degree of “certainty”. These properties support an analysis of radial basis function classifiers and allow for an adaption to “novel” kinds of input samples in a real-world application. In this article, we outline these properties and show how they can be exploited in the field of intrusion detection (detection of network-based misuse). Intrusion detection plays an increasingly important role in securing computer networks. In this case study, we first compare the classification abilities of radial basis function classifiers, multilayer perceptrons, the neuro-fuzzy system NEFCLASS, decision trees, classifying fuzzy-k-means, support vector machines, Bayesian networks, and nearest neighbor classifiers. Then, we investigate the interpretability and understandability of the best paradigms found in the previous step. We show how structure optimization and feature selection for radial basis function classifiers can be done by means of evolutionary algorithms and compare this approach to decision trees optimized using certain pruning techniques. Finally, we demonstrate that radial basis function classifiers are basically able to detect novel attack types. The many advantageous properties of radial basis function classifiers could certainly be exploited in other application fields in a similar way.     

A fast audio similarity retrieval method for millions of music tracks

We present a filter-and-refine method to speed up nearest neighbor searches with the Kullback–Leibler divergence for multivariate Gaussians. This combination of features and similarity estimation is of special interest in the field of automatic music recommendation as it is widely used to compute music similarity. However, the non-vectorial features and a non-metric divergence make using it with large corpora difficult, as standard indexing algorithms can not be used. This paper proposes a method for fast nearest neighbor retrieval in large databases which relies on the above approach. In its core the method rescales the divergence and uses a modified FastMap implementation to speed up nearest-neighbor queries. Overall the method accelerates the search for similar music pieces by a factor of 10–30 and yields high recall values of 95–99% compared to a standard linear search.     

The social bookmark and publication management system bibsonomy

Social resource sharing systems are central elements of the Web 2.0 and use the same kind of lightweight knowledge representation, called folksonomy. Their large user communities and ever-growing networks of user-generated content have made them an attractive object of investigation for researchers from different disciplines like Social Network Analysis, Data Mining, Information Retrieval or Knowledge Discovery. In this paper, we summarize and extend our work on different aspects of this branch of Web 2.0 research, demonstrated and evaluated within our own social bookmark and publication sharing system BibSonomy, which is currently among the three most popular systems of its kind. We structure this presentation along the different interaction phases of a user with our system, coupling the relevant research questions of each phase with the corresponding implementation issues. This approach reveals in a systematic fashion important aspects and results of the broad bandwidth of folksonomy research like capturing of emergent semantics, spam detection, ranking algorithms, analogies to search engine log data, personalized tag recommendations and information extraction techniques. We conclude that when integrating a real-life application like BibSonomy into research, certain constraints have to be considered; but in general, the tight interplay between our scientific work and the running system has made BibSonomy a valuable platform for demonstrating and evaluating Web 2.0 research.     

Attribute selection with fuzzy decision reducts

Rough set theory provides a methodology for data analysis based on the approximation of concepts in information systems. It revolves around the notion of discernibility: the ability to distinguish between objects, based on their attribute values. It allows to infer data dependencies that are useful in the fields of feature selection and decision model construction. In many cases, however, it is more natural, and more effective, to consider a gradual notion of discernibility. Therefore, within the context of fuzzy rough set theory, we present a generalization of the classical rough set framework for data-based attribute selection and reduction using fuzzy tolerance relations. The paper unifies existing work in this direction, and introduces the concept of fuzzy decision reducts, dependent on an increasing attribute subset measure. Experimental results demonstrate the potential of fuzzy decision reducts to discover shorter attribute subsets, leading to decision models with a better coverage and with comparable, or even higher accuracy.