Maximal limited similarity-based rough set model

Non-symmetric similarity relation-based rough set model (NS-RSM) is viewed as mathematical tool to deal with the analysis of imprecise and uncertain information in incomplete information systems with “?” values. NS-RSM relies on the concept of non-symmetric similarity relation to group equivalent objects and generate knowledge granules that are then used to approximate the target set. However, NS-RSM results in unpromising approximation space when addressing inconsistent data sets that have lots of boundary objects. This is because objects in the same similarity classes are not necessarily similar to each other and may belong to different target classes. To enhance NS-RSM capability, we introduce the maximal limited similarity-based rough set model (MLS-RSM) which describes the maximal collection of indistinguishable objects that are limited tolerance to each other in similarity classes. This allows accurate computation to be done for the approximation space. Furthermore, approximation accuracy comparisons have been conducted among NS-RSM and MLS-RSM. The results demonstrate that MLS-RSM model outperforms NS-RSM and can approximate the target set more efficiently.     

Numerical simulation of contaminant transport in groundwater using software tools of $$r^3t$$

When a realistic modelling of radioactive contaminant transport in flowing groundwater is required, very large systems of coupled partial and ordinary differential equations can arise that have to be solved numerically. For that purpose, the software package \(r^3t\) is developed in which several advanced numerical methods are implemented to solve such models efficiently and accurately. Using software tools of \(r^3t\) one can treat successfully nontrivial mathematical problems like advection-dominated system with different retardation of transport for each component and with nonlinear Freundlich sorption and/or precipitation. Additionally, long time simulations on complex 3D geological domains using unstructured grids can be realized. In this paper we introduce and summarize the most important and novel features of numerical simulation for radioactive contaminant transport in porous media when using \(r^3t\).     

Evolution-in-materio: solving computational problems using carbon nanotube–polymer composites

Evolution-in-materio uses evolutionary algorithms to exploit properties of materials to solve computational problems without requiring a detailed understanding of such properties. We show that using a purpose-built hardware platform called Mecobo, it is possible to solve computational problems by evolving voltages and signals applied to an electrode array covered with a carbon nanotube–polymer composite. We demonstrate for the first time that this methodology can be applied to function optimization and also to the tone discriminator problem (TDP). For function optimization, we evaluate the approach on a suite of optimization benchmarks and obtain results that in some cases come very close to the global optimum or are comparable with those obtained using well-known software-based evolutionary approach. We also obtain good results in comparison with prior work on the tone discriminator problem. In the case of the TDP we also investigated the relative merits of different mixtures of materials and organizations of electrode array.     

Term frequency with average term occurrences for textual information retrieval

In the context of information retrieval (IR) from text documents, the term weighting scheme (TWS) is a key component of the matching mechanism when using the vector space model. In this paper, we propose a new TWS that is based on computing the average term occurrences of terms in documents and it also uses a discriminative approach based on the document centroid vector to remove less significant weights from the documents. We call our approach Term Frequency With Average Term Occurrence (TF-ATO). An analysis of commonly used document collections shows that test collections are not fully judged as achieving that is expensive and maybe infeasible for large collections. A document collection being fully judged means that every document in the collection acts as a relevant document to a specific query or a group of queries. The discriminative approach used in our proposed approach is a heuristic method for improving the IR effectiveness and performance and it has the advantage of not requiring previous knowledge about relevance judgements. We compare the performance of the proposed TF-ATO to the well-known TF-IDF approach and show that using TF-ATO results in better effectiveness in both static and dynamic document collections. In addition, this paper investigates the impact that stop-words removal and our discriminative approach have on TF-IDF and TF-ATO. The results show that both, stop-words removal and the discriminative approach, have a positive effect on both term-weighting schemes. More importantly, it is shown that using the proposed discriminative approach is beneficial for improving IR effectiveness and performance with no information on the relevance judgement for the collection.     

Formation control of underactuated bio-inspired snake robots

This paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait pattern defined by some pre-specified constraint functions. These functions are dynamic in that they depend on the state variables of two compensators which are used to control the orientation and planar position of the robot, making this a dynamic maneuvering control strategy. Furthermore, using a formation control strategy we make the multi-agent system converge to and keep a desired geometric formation, and enforce the formation follow a desired straight line path with a given speed profile. Specifically, we use the proposed maneuvering controller to solve the formation control problem for a group of snake robots by synchronizing the commanded velocities of the robots. Simulation results are presented which illustrate the successful performance of the theoretical approach.     

Swarm robotic network using Lévy flight in target detection problem

One approach in swarm robotics is homogeneous system which is embedded with sensing, computing, mobile and communication components. In this study, a target detection problem, which is one of navigation problems, was employed. Once a robot detects a target, robots immediately communicate with a base station via intermediate relay robots due to the multi-hop transmission of wireless communication. Therefore, this control task is completed with connectivity of the network. In a target detection problem, we must improve the performance of exploration as well as connectivity of the network. This study investigates the performances of the two types of random walk algorithm in navigation while loosely ensuring connectivity of the robotic network based on our previous study.     

Critical mass in the emergence of collective intelligence: a parallelized simulation of swarms in noisy environments

We extend an abstract agent-based swarming model based on the evolution of neural network controllers, to explore further the emergence of swarming. Our model is grounded in the ecological situation, in which agents can access some information from the environment about the resource location, but through a noisy channel. Swarming critically improves the efficiency of group foraging, by allowing agents to reach resource areas much more easily by correcting individual mistakes in group dynamics. As high levels of noise may make the emergence of collective behavior depend on a critical mass of agents, it is crucial to reach sufficient computing power to allow for the evolution of the whole set of dynamics in simulation. Since simulating neural controllers and information exchanges between agents are computationally intensive, to scale up simulations to model critical masses of individuals, the implementation requires careful optimization. We apply techniques from astrophysics known as treecodes to compute the signal propagation, and efficiently parallelize for multi-core architectures. Our results open up future research on signal-based emergent collective behavior as a valid collective strategy for uninformed search over a domain space.     

Generalized measuring-worm algorithm: high-accuracy mapping and movement via cooperating swarm robots

Recently, many extensive studies have been conducted on robot control via self-positioning estimation techniques. In the simultaneous localization and mapping (SLAM) method, which is one approach to self-positioning estimation, robots generally use both autonomous position information from internal sensors and observed information on external landmarks. SLAM can yield higher accuracy positioning estimations depending on the number of landmarks; however, this technique involves a degree of uncertainty and has a high computational cost, because it utilizes image processing to detect and recognize landmarks. To overcome this problem, we propose a state-of-the-art method called a generalized measuring-worm (GMW) algorithm for map creation and position estimation, which uses multiple cooperating robots that serve as moving landmarks for each other. This approach allows problems of uncertainty and computational cost to be overcome, because a robot must find only a simple two-dimensional marker rather than feature-point landmarks. In the GMW method, the robots are given a two-dimensional marker of known shape and size and use a front-positioned camera to determine the marker distance and direction. The robots use this information to estimate each other’s positions and to calibrate their movement. To evaluate the proposed method experimentally, we fabricated two real robots and observed their behavior in an indoor environment. The experimental results revealed that the distance measurement and control error could be reduced to less than 3 %.