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Training of artificial neural networks (ANNs) using reinforcement learning (RL) techniques is being widely discussed in the robot learning literature. The high model complexity of ANNs along with the model-free nature of RL algorithms provides a desirable combination for many robotics applications. There is a huge need for algorithms that generalize using raw sensory inputs, such as vision, without...
Future communication subsystems of space exploration missions can potentially benefit from software-defined radios (SDRs) controlled by machine learning algorithms. In this paper, we propose a novel hybrid radio resource allocation management control algorithm that integrates multi-objective reinforcement learning and deep artificial neural networks. The objective is to efficiently manage communications...
This paper proposes a Lyapunov constrained neural network based reinforcement learning (RL) controller with guaranteed stability for non linear systems. Neural networks have been used as universal function approximators to deal with one of the core problem faced in RL commonly known as ‘The Curse of Dimensionality’. We propose to constrain controller action set to the one dictated by the Lyapunov...
In this paper, an actor critic neural network control is developed for a robotic manipulator. Both system uncertainties and unknown deadzone are considered in the tracking control design. Stability of the closed-loop system is analyzed via the Lyapunov's direct method. The critic neural network is used to estimate the cost-to-go and the actor neural network is used to make the cost-to-go converge...
Most architecture of mobile ad hoc network is in the form of decentralized, self-configuring and dynamic topologies. Nodes are mobile in network. The mobility of node in network is common problem in peer-to-peer technology. Object replication is one of the techniques applied in order to share objects in the mobile peer-to-peer environment. Predicting the estimated time for the node to exit is a great...
Reinforcement learning algorithms that employ neural networks as function approximators have proven to be powerful tools for solving optimal control problems. However, their training and the validation of final policies can be cumbersome as neural networks can suffer from problems like local minima or over fitting. When using iterative methods, such as neural fitted Q-iteration, the problem becomes...
In the domain of agricultural robotics, one major application is crop scouting, e.g., for the task of weed control. For this task a key enabler is a robust detection and classification of the plant and species. Automatically distinguishing between plant species is a challenging task, because some species look very similar. It is also difficult to translate the symbolic high level description of the...
Titanium alloy exhibits an excellent combination of bio-compatibility, corrosion resistance, strength and toughness. The microstructure of an alloy influences the properties. The microstructures depend mainly on alloying elements, method of production, mechanical, and thermal treatments. The relationships between these variables and final properties of the alloy are complex, non-linear in nature,...
To extract implicit knowledge and data relationships from the audio and audio similarity measure, this paper uses the audio mining techniques. A model for audio clustering and classification technique is proposed. Neural networks are used for classifying the data. The working prototype of the Music classification system has been developed and tested in MATLAB 6.5 using the signal Processing Toolbox...
Reducing power consumption has become a priority in microprocessor design as more devices become mobile and as the density and speed of components lead to power dissipation issues. Power allocation strategies for individual components within a chip are being researched to determine optimal configurations to balance power and performance. Modelling and estimation tools are necessary in order to understand...
In this paper, a novel blind watermarking scheme based on the back-propagation neural networks (BPNN) for image is presented. First, the convolutional codes encoding is used to refine the watermark for increasing robustness of the scheme. BPNN is developed to memorize the relationships between the wavelet selected samples and a processed chaotic sequence. With wavelet domain of original image being...
Decentralized scheduling with dispatching rules is applied in many fields of logistics and production, especially in semiconductor manufacturing, which is characterized by high complexity and dynamics. Many dispatching rules have been found, which perform well on different scenarios, however no rule has been found, which outperforms other rules across various objectives. To tackle this drawback, approaches,...
We consider the system-level self-diagnosis of multiprocessor and multicomputer systems under the generalized comparison model (GCM). In this diagnosis model, a set of tasks is assigned to pairs of nodes and their outcomes are compared by neighboring nodes. The collections of all comparison outcomes, agreements and disagreements among the nodes, are used to identify the set of faulty nodes. We consider...
This article presents two classifiers based on machine learning methods, aiming to detect physiologic anomalies considering Poincaré plots of heart rate variability. It was developed a preprocessing procedure to encoding the plots, based on the Cellular Features Extraction Method. Simulation of different classifiers, artificial neural networks and support vector machine, has been performed and the...
By exploiting the properties of superposition and entanglement found in quantum systems Quantum Computation has been applied to the design of algorithms considerably more efficient than the known classical ones. Known examples are the Shor's factoring algorithm and the Grover's search algorithm. This paper investigates the possibility of employing Quantum Computing techniques to the design of learning...
In this paper, a novel approach for online motor fault diagnosis is proposed based on artificial neural network (ANN) trained by immune clustering and genetic algorithm (IGA). The IGA is employed to adaptively optimize the structure of the radial basis function neural network (RBFNN). The clonal selection principle is responsible for how the centres will represent the training data set. The immune...
This paper presents the design, implementation, and comparative analysis of two intelligent neural network based controllers employed for nonlinear dynamic compensation and adaptive trajectory tracking of a mobile robot system. The first control law is an integration of a backstepping controller with a neural network which is designed to learn the inverse dynamic model of the robot and to compensate...
A common drawback of standard reinforcement learning algorithms is their inability to scale-up to real-world problems. For this reason, a current important trend of research is (state-action) value function approximation. A prominent value function approximator is the least-squares temporal differences (LSTD) algorithm. However, for technical reasons, linearity is mandatory: the parameterization of...
Two popular hazards in supervised learning of neural networks are local minima and over fitting. Application of the momentum technique dealing with the local optima has proved efficient but it is vulnerable to over fitting. In contrast, deployment of the early stopping technique might overcome the over fitting phenomena but it sometimes terminates into the local minima. This paper proposes a hybrid...
The importance of providing guaranteed Quality of Service (QoS) cannot be overemphasised, especially in the NGN environment which supports converged services on a common IP transport network. Call Admission Control (CAC) mechanisms do provide QoS to class-based services in a proactive manner. However, due to the factors of complexity, scale and dynamicity of NGN, Machine Learning techniques are favoured...
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