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81.
Pablo Quintía Roberto Iglesias Miguel A. Rodríguez Carlos V. Regueiro 《Robotics and Autonomous Systems》2010,58(12):1306-1315
One of the main problems of robots is the lack of adaptability and the need for adjustment every time the robot changes its working place. To solve this, we propose a learning approach for mobile robots using a reinforcement-based strategy and a dynamic sensor-state mapping. This strategy, practically parameterless, minimises the adjustments needed when the robot operates in a different environment or performs a different task.Our system will simultaneously learn the state space and the action to execute on each state. The learning algorithm will attempt to maximise the time before a robot failure in order to obtain a control policy suited to the desired behaviour, thus providing a more interpretable learning process. The state representation will be created dynamically, starting with an empty state space and adding new states as the robot finds new situations that has not seen before. A dynamic creation of the state representation will avoid the classic, error-prone and cyclic process of designing and testing an ad hoc representation. We performed an exhaustive study of our approach, comparing it with other classic strategies. Unexpectedly, learning both perception and action does not increase the learning time. 相似文献
82.
Jonathan Pietarila Graham Darryl D. Holm Pablo Mininni Annick Pouquet 《Journal of scientific computing》2011,49(1):21-34
The subfilter-scale (SFS) physics of regularization models are investigated to understand the regularizations’ performance
as SFS models. Suppression of spectrally local SFS interactions and conservation of small-scale circulation in the Lagrangian-averaged
Navier-Stokes α-model (LANS-α) is found to lead to the formation of rigid bodies. These contaminate the superfilter-scale energy spectrum with a scaling
that approaches k
+1 as the SFS spectra is resolved. The Clark-α and Leray-α models, truncations of LANS-α, do not conserve small-scale circulation and do not develop rigid bodies. LANS-α, however, is closest to Navier-Stokes in intermittency properties. All three models are found to be stable at high Reynolds
number. Differences between L
2 and H
1 norm models are clarified. For magnetohydrodynamics (MHD), the presence of the Lorentz force as a source (or sink) for circulation
and as a facilitator of both spectrally nonlocal large to small scale interactions as well as local SFS interactions prevents
the formation of rigid bodies in Lagrangian-averaged MHD (LAMHD-α). LAMHD-α performs well as a predictor of superfilter-scale energy spectra and of intermittent current sheets at high Reynolds numbers.
It may prove generally applicable as a MHD-LES. 相似文献
83.
Pablo Irarrazaval Carlos Lizama Vicente Parot Carlos Sing-Long Cristian Tejos 《Computers & Mathematics with Applications》2011,62(3):1576-1590
The fractional Fourier transform (FrFT) is revisited in the framework of strongly continuous periodic semigroups to restate known results and to explore new properties of the FrFT. We then show how the FrFT can be used to reconstruct Magnetic Resonance (MR) images acquired under the presence of quadratic field inhomogeneity. Particularly, we prove that the order of the FrFT is a measure of the distortion in the reconstructed signal. Moreover, we give a dynamic interpretation to the order as time evolution of a function. We also introduce the notion of ρ-α space as an extension of the Fourier or k-space in MR, and we use it to study the distortions introduced in two common MR acquisition strategies. We formulate the reconstruction problem in the context of the FrFT and show how the semigroup theory allows us to find new reconstruction formulas for discrete sampled signals. Finally, the results are supplemented with numerical examples that show how it performs in a standard 1D MR signal reconstruction. 相似文献
84.
Pablo Cascón Andrés Ortiz Julio Ortega Antonio F. Díaz Ignacio Rojas 《The Journal of supercomputing》2011,58(3):302-313
Hosts with several, possibly heterogeneous and/or multicore, processors provide new challenges and opportunities to accelerate
applications with high communications bandwidth requirements. Many opportunities to scale these network applications with the increase in the link bandwidths are related to the exploitation of the available parallelism provided by the presence
of several processing cores in the servers, not only for computing the workload of the user application but also for decreasing
the overhead associated to the network interface and the system software. 相似文献
85.
Ney Sodr Pablo Guillermo Gonzales-Ormeo Helena Maria Petrilli Cludio Geraldo Schn 《Calphad》2009,33(3):576-583
The metastable phase diagram of the BCC-based ordering equilibria in the Fe–Al–Mo system has been calculated via a truncated cluster expansion, through the combination of Full-Potential-Linear augmented Plane Wave (FP-LAPW) electronic structure calculations and of Cluster Variation Method (CVM) thermodynamic calculations in the irregular tetrahedron approximation. Four isothermal sections at 1750 K, 2000 K, 2250 K and 2500 K are calculated and correlated with recently published experimental data on the system. The results confirm that the critical temperature for the order–disorder equilibrium between Fe3Al–D03 and FeAl–B2 is increased by Mo additions, while the critical temperature for the FeAl–B2/A2 equilibrium is kept approximately invariant with increasing Mo contents. The stabilization of the Al-rich A2 phase in equilibrium with overstoichiometric B2–(Fe,Mo)Al is also consistent with the attribution of the A2 structure to the τ2 phase, stable at high temperatures in overstoichiometric B2–FeAl. 相似文献
86.
BAIS: A Bayesian Artificial Immune System for the effective handling of building blocks 总被引:1,自引:0,他引:1
Significant progress has been made in theory and design of Artificial Immune Systems (AISs) for solving hard problems accurately. However, an aspect not yet widely addressed by the research reported in the literature is the lack of ability of the AISs to deal effectively with building blocks (partial high-quality solutions coded in the antibody). The available AISs present mechanisms for evolving the population that do not take into account the relationship among the variables of the problem, potentially causing the disruption of high-quality partial solutions. This paper proposes a novel AIS with abilities to identify and properly manipulate building blocks in optimization problems. Instead of using cloning and mutation to generate new individuals, our algorithm builds a probabilistic model representing the joint probability distribution of the promising solutions and, subsequently, uses this model for sampling new solutions. The probabilistic model used is a Bayesian network due to its capability of properly capturing the most relevant interactions among the variables. Therefore, our algorithm, called Bayesian Artificial Immune System (BAIS), represents a significant attempt to improve the performance of immune-inspired algorithms when dealing with building blocks, and hence to solve efficiently hard optimization problems with complex interactions among the variables. The performance of BAIS compares favorably with that produced by contenders such as state-of-the-art Estimation of Distribution Algorithms. 相似文献
87.
Javier Plaza Author Vitae Antonio Plaza Author VitaeAuthor Vitae Pablo Martinez Author Vitae 《Pattern recognition》2009,42(11):3032-3809
In this work, neural network-based models involved in hyperspectral image spectra separation are considered. Focus is on how to select the most highly informative samples for effectively training the neural architecture. This issue is addressed here by several new algorithms for intelligent selection of training samples: (1) a border-training algorithm (BTA) which selects training samples located in the vicinity of the hyperplanes that can optimally separate the classes; (2) a mixed-signature algorithm (MSA) which selects the most spectrally mixed pixels in the hyperspectral data as training samples; and (3) a morphological-erosion algorithm (MEA) which incorporates spatial information (via mathematical morphology concepts) to select spectrally mixed training samples located in spatially homogeneous regions. These algorithms, along with other standard techniques based on orthogonal projections and a simple Maximin-distance algorithm, are used to train a multi-layer perceptron (MLP), selected in this work as a representative neural architecture for spectral mixture analysis. Experimental results are provided using both a database of nonlinear mixed spectra with absolute ground truth and a set of real hyperspectral images, collected at different altitudes by the digital airborne imaging spectrometer (DAIS 7915) and reflective optics system imaging spectrometer (ROSIS) operating simultaneously at multiple spatial resolutions. 相似文献
88.
Integrating different information sources is a growing research area within different application domains. This is particularly true for the geographic information domain which is facing new challenges because newer and better technologies are capturing large amounts of information about the Earth. This trend can be combined with increases in the distribution of GIS (Geographic Information Systems) on the Web, which is leading to the proliferation of different geospatial information repositories and the subsequent need to integrate information across repositories to get consistent information. To overcome this situation, many proposals use ontologies in the integration process. In this paper we analyze and compare the most widely referred proposals of geographic information integration, focusing on those using ontologies as semantic tools to represent the sources, and to facilitate the integration process. 相似文献
89.
Jorge Navarro-Ortiz Pablo Ameigeiras Juan J. Ramos-Munoz Juan M. Lopez-Soler 《Computer Communications》2009,32(11):1281-1297
In this paper we present a solution for the IEEE 802.11e HCCA (Hybrid coordination function Controlled Channel Access) mechanism which aims both at supporting strict real-time traffic requirements and, simultaneously, at handling TCP applications efficiently. Our proposal combines a packet scheduler and a dynamic resource allocation algorithm. The scheduling discipline is based on the Monolithic Shaper-Scheduler, which is a modification of a General Processor Sharing (GPS) related scheduler. It supports minimum-bandwidth and delay guarantees and, at the same time, it achieves the optimal latency of all the GPS-related schedulers. In addition, our innovative resource allocation procedure, called the territory method, aims at prioritizing real time services and at improving the performance of TCP applications. For this purpose, it splits the wireless channel capacity (in terms of transmission opportunities) into different territories for the different types of traffic, taking into account the end-to-end network dynamics. In order to give support to the desired applications, we consider the following traffic classes: conversational, streaming, interactive and best-effort. The so called territories shrink or expand depending on the current quality experienced by the corresponding traffic class. We evaluated the performance of our solution through extensive simulations in a heterogeneous wired-cum-wireless scenario under different traffic conditions. Additionally, we compare our proposal to other HCCA scheduling algorithms, the HCCA reference scheduler and Fair Hybrid Coordination Function (FHCF). The results show that the combination of the MSS and the territory method obtains higher system capacity for VoIP traffic (up to 32 users) in the simulated scenario, compared to FHCF and the HCCA reference scheduler (13 users). In addition, the MSS with the territory method also improves the throughput of TCP sources (one FTP application achieves between 6.1 Mbps without VoIP traffic and 2.1 Mbps with 20 VoIP users) compared to the reference scheduler (at most 388 kbps) and FHCF (with a maximum FTP throughput of 4.8 Mbps). 相似文献
90.
The quality of shadow mapping is traditionally limited by texture resolution. We present a novel lossless compression scheme for high‐resolution shadow maps based on precomputed multiresolution hierarchies. Traditional multiresolution trees can compactly represent homogeneous regions of shadow maps at coarser levels, but require many nodes for fine details. By conservatively adapting the depth map, we can significantly reduce the tree complexity. Our proposed method offers high compression rates, avoids quantization errors, exploits coherency along all data dimensions, and is well‐suited for GPU architectures. Our approach can be applied for coherent shadow maps as well, enabling several applications, including high‐quality soft shadows and dynamic lights moving on fixed‐trajectories. 相似文献