Learning fuzzy controllers in mobile robotics with embedded preprocessing

The automatic design of controllers for mobile robots usually requires two stages. In the first stage, sensorial data are preprocessed or transformed into high level and meaningful values of variables which are usually defined from expert knowledge. In the second stage, a machine learning technique is applied to obtain a controller that maps these high level variables to the control commands that are actually sent to the robot. This paper describes an algorithm that is able to embed the preprocessing stage into the learning stage in order to get controllers directly starting from sensorial raw data with no expert knowledge involved. Due to the high dimensionality of the sensorial data, this approach uses Quantified Fuzzy Rules (QFRs), that are able to transform low-level input variables into high-level input variables, reducing the dimensionality through summarization. The proposed learning algorithm, called Iterative Quantified Fuzzy Rule Learning (IQFRL), is based on genetic programming. IQFRL is able to learn rules with different structures, and can manage linguistic variables with multiple granularities. The algorithm has been tested with the implementation of the wall-following behavior both in several realistic simulated environments with different complexity and on a Pioneer 3-AT robot in two real environments. Results have been compared with several well-known learning algorithms combined with different data preprocessing techniques, showing that IQFRL exhibits a better and statistically significant performance. Moreover, three real world applications for which IQFRL plays a central role are also presented: path and object tracking with static and moving obstacles avoidance.     

Significant population genetic structuring in Rhyzopertha dominica across Turkey: Biogeographic and practical implications

Rhyzopertha dominica is a key pest of stored grain. Understanding the movement of this beetle on broad geographic scales is crucial, particularly when developing strategies to prevent the spread of phosphine resistance. We assessed population genetic structuring in this pest across Turkey, using a combination of mitochondrial (cytochrome oxidase I) and microsatellite markers. In addition, we screened samples for Wolbachia, as this endosymbiont has previously been suggested to be associated with low mitochondrial genetic diversity in this beetle. Mitochondrial genetic diversity was low, with only six haplotypes identified. The genetic diversity was, however, substantially higher than that previously found in Australia or India, suggesting that R. dominica may have originated in the Middle East. Wolbachia were detected only at a single site, indicating they are not impacting the mitochondrial genetic diversity of R. dominica across Turkey. Microsatellite markers indicated there is significant geographic genetic structuring across Turkey, even among sites less than 100 km apart, suggesting there is little movement of beetles across regions within the country. This contrasts with the significantly higher levels of gene-flow found in Australia and the United States. We suggest that the limited movement of beetles across Turkey may be due to a combination of the historically localised agricultural practices (which limits anthropogenic movement among regions), and the mountainous landscape (which limits active flight among regions). Our results demonstrate that the movement of stored product pests may differ significantly across studies conducted in different countries. As a consequence, phosphine resistance management strategies must incorporate region specific information on the extent of beetle movement.     

Range Assignment for Biconnectivity and k-Edge Connectivity in Wireless Ad Hoc Networks

Depending on whether bidirectional links or unidirectional links are used for communications, the network topology under a given range assignment is either an undirected graph referred to as the bidirectional topology, or a directed graph referred to as the unidirectional topology. The Min-Power Bidirectional (resp., Unidirectional) k-Node Connectivity problem seeks a range assignment of minimum total power subject to the constraint that the produced bidirectional (resp. unidirectional) topology is k-vertex connected. Similarly, the Min-Power Bidirectional (resp., Unidirectional) k-Edge Connectivity problem seeks a range assignment of minimum total power subject to the constraint the produced bidirectional (resp., unidirectional) topology is k-edge connected. The Min-Power Bidirectional Biconnectivity problem and the Min-Power Bidirectional Edge-Biconnectivity problem have been studied by Lloyd et al. [23]. They show that range assignment based the approximation algorithm of Khuller and Raghavachari [18], which we refer to as Algorithm KR, has an approximation ratio of at most 2(2 – 2/n)(2 + 1/n) for Min-Power Bidirectional Biconnectivity, and range assignment based on the approximation algorithm of Khuller and Vishkin [19], which we refer to as Algorithm KV, has an approximation ratio of at most 8(1 – 1/n) for Min-Power Bidirectional Edge-Biconnectivity. In this paper, we first establish the NP-hardness of Min-Power Bidirectional (Edge-) Biconnectivity. Then we show that Algorithm KR has an approximation ratio of at most 4 for both Min-Power Bidirectional Biconnectivity and Min-Power Unidirectional Biconnectivity, and Algorithm KV has an approximation ratio of at most 2k for both Min-Power Bidirectional k-Edge Connectivity and Min-Power Unidirectional k-Edge Connectivity. We also propose a new simple constant-approximation algorithm for both Min-Power Bidirectional Biconnectivity and Min-Power Unidirectional Biconnectivity. This new algorithm applies only to Euclidean instances, but is best suited for distributed implementation. A preliminary version of this work appeared in the proceedings of the 2nd International Conference on AD-HOC Network and Wireless (Adhoc-Now 2003). Research performed in part while visiting the Max-Plank-Institut fur Informatik. Gruia Calinescu is an Assistant Professor of Computer Science at the Illinois Institute of Technology since 2000. He held postdoc or visiting researcher positions at DIMACS, University of Waterloo, and Max-Plank Institut fur Informatik. Gruia has a Diploma from University of Bucharest and a Ph.D. from Georgia Insitute of Technology. His research interests are in the area of algorithms. Peng-Jun Wan has joined the Computer Science Department at Illinois Institute of Technology in 1997 and has been an Associate Professor since 2004. He received his Ph.D. in Computer Science from University of Minnesota in 1997, M.S. in Operations Research and Control Theory from Chinese Academy of Science in 1993, and B.S. in Applied Mathematics from Tsinghua University in 1990. His research interests include optical networks and wireless networks.     

基于遗传算法的服装工序编排规划

本文讨论了建立服装工序编排系统的必要性，在进行服装工序拆分、合并的基础上，应用遗传算法建立了以流水线平衡为目标的服装工序编排模型．     

A survey of parallel execution strategies for transitive closure and logic programs

An important feature of database technology of the nineties is the use of parallelism for speeding up the execution of complex queries. This technology is being tested in several experimental database architectures and a few commercial systems for conventional select-project-join queries. In particular, hash-based fragmentation is used to distribute data to disks under the control of different processors in order to perform selections and joins in parallel. With the development of new query languages, and in particular with the definition of transitive closure queries and of more general logic programming queries, the new dimension of recursion has been added to query processing. Recursive queries are complex; at the same time, their regular structure is particularly suited for parallel execution, and parallelism may give a high efficiency gain. We survey the approaches to parallel execution of recursive queries that have been presented in the recent literature. We observe that research on parallel execution of recursive queries is separated into two distinct subareas, one focused on the transitive closure of Relational Algebra expressions, the other one focused on optimization of more general Datalog queries. Though the subareas seem radically different because of the approach and formalism used, they have many common features. This is not surprising, because most typical Datalog queries can be solved by means of the transitive closure of simple algebraic expressions. We first analyze the relationship between the transitive closure of expressions in Relational Algebra and Datalog programs. We then review sequential methods for evaluating transitive closure, distinguishing iterative and direct methods. We address the parallelization of these methods, by discussing various forms of parallelization. Data fragmentation plays an important role in obtaining parallel execution; we describe hash-based and semantic fragmentation. Finally, we consider Datalog queries, and present general methods for parallel rule execution; we recognize the similarities between these methods and the methods reviewed previously, when the former are applied to linear Datalog queries. We also provide a quantitative analysis that shows the impact of the initial data distribution on the performance of methods. Recommended by: Patrick Valduriez     

使用遗传算法的迷宫学习

本文试用遗传计算及决策制定方法来实现机器人有认识迷宫意向的能力，这里“意向”是指遵循对迷宫特有的路径规则所出的决定，令机器人在两个相对的迷宫中行走学习，一个迷宫路径是基于同样的意向，另一个则基于不同的意向，研究结果确认了已达成的意向学习。     

一种实时心电图数据压缩算法

提出了一种实时心电图ＥＣＧ数据压缩算法。它是将自适应变门限算法与转折点算法相结合。自适应变门限算法是对ＡＺＴＥＣ算法的改进．它计算ＥＣＧ信号的几个统计参数来确定可变门限值。转折点算法是分析采样点的趋势并只存储每对连续的采样点中的一个。它保留信号的斜坡标志发生变化的峰点和谷点。本文算法兼有这两种算法的优点。这种算法在较高压缩比的情况下重建心电图信号失真较小．     

心电地图仪中工频干扰的一种滤除方法

在心电地图仪中记录到的体表心电信号往往由于电磁的影响而引进工频干扰．基于体表心电信号中工频干扰的特点，作者提出了一种滤除工频干扰的方法，即就单独—胸导联信号通过提高频谱的分辨率来估计工频干扰的频率；基于最小均方误差准则来估计各导联信号中工频干扰的幅度和相位。文中还给出了该算法的流程图和滤波性能分析。模拟结果表明了该算法的有效性。应用该算法对心电地图仪中的工频干扰进行对消，取得了满意的结果。     

BP算法的改进及用模拟电路实现的神经网络分类器

基于用模拟电路实现神经网络分类器的目的，对多层静态前馈神经网络的ＢＰ算法做了改进，采用线性限幅函数代替Ｓｉｇｍｏｉｄ函数作为神经元的激活函数，给出了改进的ＢＰ算法。对该算法性能的实验研究表明：这种改进算法不但方便了用线性模拟集成运算放大电路实现神经网络，而且具有学习速度快，映射能力强等优点。根据本文算法设计的神经网络分类器，无论是计算机仿真，还是模拟电路实现，都得到了比较高的识别率。     

工业过程随机稳态优化控制算法的鲁棒性分析

本文给出了一种随机稳态优化算法的灵敏度分析，讨论算法解对参数变化的关系。这些参数代表系统结构参数或噪声向量的某些数字特征．