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11.
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. 相似文献
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13.
In this paper, a new approach for fault detection and isolation that is based on the possibilistic clustering algorithm is proposed. Fault detection and isolation (FDI) is shown here to be a pattern classification problem, which can be solved using clustering and classification techniques. A possibilistic clustering based approach is proposed here to address some of the shortcomings of the fuzzy c-means (FCM) algorithm. The probabilistic constraint imposed on the membership value in the FCM algorithm is relaxed in the possibilistic clustering algorithm. Because of this relaxation, the possibilistic approach is shown in this paper to give more consistent results in the context of the FDI tasks. The possibilistic clustering approach has also been used to detect novel fault scenarios, for which the data was not available while training. Fault signatures that change as a function of the fault intensities are represented as fault lines, which have been shown to be useful to classify faults that can manifest with different intensities. The proposed approach has been validated here through simulations involving a benchmark quadruple tank process and also through experimental case studies on the same setup. For large scale systems, it is proposed to use the possibilistic clustering based approach in the lower dimensional approximations generated by algorithms such as PCA. Towards this end, finally, we also demonstrate the key merits of the algorithm for plant wide monitoring study using a simulation of the benchmark Tennessee Eastman problem. 相似文献
14.
文章分析了人工免疫系统的原理,简单建立了一种基于否定选择算法的网络入侵检测系统,引入了一种用于异常事件识别的r-字符块匹配规则,并对规则存在的漏洞进行了分析。 相似文献
15.
This article presents a method that can be applied to molten AA-6101 alloy to improve electrical properties of the aluminium part of the optical ground wire (OPGW) used in overhead transmission lines to protect phase conductors from lightning strike and to transmit signals and data. AA-6101 alloy in casting of the log as 6 m length and 178 mm diameter for extrusion has been inoculated by AlB2 to decrease detrimental effects of Cr, Ti, V, and Zr on the conductivity of the material. After inoculation, improved billets were extruded as 9.5 mm diameter feedstock. Required wires drawn from the feedstock according to the construction types of OPGW to be tested were exposed to aging at 175°C, 6 h (T-8). Upon completion of the back-twist and performing-type stranding process, resistance, and short-circuit current capacity and breaking load of the OPGW 88/44 constructions with other metal combinations have been examined and tested to show improvement. Results are summarized in tables and graphically. 相似文献
16.
包装件压力试验机计算机测控系统 总被引:4,自引:2,他引:2
针对YE-50包装件压力试验机落后的测控系统,提出一种基于压力和位移闭环控制的计算机测控系统。根据测得的压力、位移和设定值,通过模糊控制输出驱动伺服阀实现了压力试验时的恒速控制和堆码试验时的恒力控制。并实时显示力——位移及应力——应变曲线。文中还对模糊控制器的实验整定方法进行了探讨。 相似文献
17.
油气圈闭地质评价方法及应用 总被引:18,自引:3,他引:15
本从含油气系统理论出发,对圈闭成藏的油源,储层,圈闭,保存,配套史制定分级评价标准,并赋予相应的评价系数,在此基础上应用地质风险概率理论与模糊数学的方法,在微机上定量评价圈闭含油气性。 相似文献
18.
演绎数据库管理系统DEDBMS是工程数据库管理系统EDBMS/2中的一个子系统。本文着重介绍其产生式语言用户界面、工作流程及功能特点。DEDBMS系统的开发,使EDBMS/2不仅具有工程数据据管理功能,而且具有数据演绎和知识处理能力,从而成为CAD/CAM系统集成化和智能化的有力支撑工具。 相似文献
19.
大坝安全监控专家系统中的知识处理 总被引:2,自引:1,他引:1
在介绍产生式规则及其数学模型的基础上,论述了用成熟的关系数据库 技术来表示和存储产生式规则表示的专家知识的方法,较好地解决了知识的存储和管理问题 。同时,利用关系数据库中实体间的关系,很容易将分散存储的规则元素组合成规则供推理 时使用。在分析了大坝安全监控专家系统知识特点的基础上举例说明了用关系数据库表 示产生式规则的具体方法。 相似文献
20.