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This paper discusses interactive Q-learning as a method for learning appropriate robot behavior from the human teleoperator in order to increase the robot's autonomy in various human-robot interaction scenarios. We demonstrate the usability of our approach on a simulation of a simple task. The results show the feasibility of this method in different kinds of interactions. As a conclusion, we discuss...
The agent computing paradigm is rapidly emerging as one of the powerful technology to deal with the uncertainty in dynamic environment. Recently, traditional learning classifier system are challenged by changes in the context. In this paper, an anticipatory agent based on the Anticipatory Learning Classifier System (ACS) for learning in changing environments is presented. This research aims to develop...
This paper presents a distributed on-line test mechanism that detects stuck-at faults (SAFs) in the channels as well as identifies the faulty channel-wires in an on-chip network (NoC). The proposed test mechanism improves yield and reliability of NoCs at the cost of few test clocks and small performance degradation. Additionally, the mechanism is scalable to large-scale NoCs. We study the impact of...
Assessing E-commerce web sites quality is essential not only to have recommendations for improvement but also to make comparisons with competitors. In this paper, the aim is to know the best criteria for the evaluation and obtain a weight for them using fuzzy Analytic Network Process (fuzzy ANP). The subjective judgments of the decision maker are expressed by fuzzy numbers. The decision making problem...
The automated evolutionary design of an optimal hierarchical fuzzy system combined with the use of Interval Type-2 Fuzzy Systems and the Beta basis function is considered in this study. The resulted proposed system is named the Hierarchical interval Type-2 Beta Fuzzy System (HT2BFS). For the learning process, two main optimizations steps are considered. The first one executes the structure learning...
Nowadays many researches have focused on the Affinity Propagation (AP) algorithm for community detection for its advantages of near-linear complexity and no prerequisite for any object function or cluster number. In view of different influences from common neighbors, we propose an improved Affinity Propagation algorithm which is based on adjacency matrix and considers self-similarity and similarity...
The robust H-infinity controller design is investigated in this paper for a class of nonlinear singular systems with state and transmission delays. The proposed controller is configured in multiple feedback loops. Based on the interval type-2 T-S fuzzy modelling and parallel distributed compensation techniques, a fuzzy multiple feedback-loop controller with memoryless state and delayed states is proposed...
Extraction of desirable information from electroencephalogram signals require same level of active involvement from the participants throughout the entire duration of the task. However, this is hard to attain due to environmental, personal and internal factors including thought processes. This poses a major challenge in realizing accurate evaluation of mental workload. This study is aimed at detection...
This paper introduces a graphical interface for Linear Temporal Logic (LTL) specifications for mobile robots. It is a sketch based interface built on the Android platform which makes the LTL control interface more friendly to non-expert users. By predefining a set of areas of interest, this interface can quickly and efficiently create plans that satisfy extended plan goals in LTL. The interface can...
Grey-incidence decision making approach is proposed to deal with the implementation of brownfield redevelopment project in the remediated sites. The inspiration behind this approach is valuable, because it is suitable to use regardless of the sample size. Whether it is big or small, or whether the data fulfills a particular conventional distribution or not. Above and beyond that, what makes it convenient...
A smart home system can provide better services to assist users if it knows what user activities will occur beforehand. Early research in activity prediction has indicated that the result of prediction is unique, but the accuracy remains unsatisfactory if only one result is considered. To solve this problem, this paper proposes a method of leveraging multiple models. In this work, we use a Bayesian...
In this paper, we design a hierarchical feature construction method for image classification. Our method has two feature construction stages: (1) feature construction by a combination of primitive image processing filters, and (2) feature construction by evolved filters. We verify the image classification performance of the proposed method on the MIT urban and nature scene dataset. The experimental...
Image segmentation and image recognition are challenging processes, and the methods of merging those two processes like semantic segmentation have been studied. However, it is a lot of labor to construct the processes of segmentation and recognition manually, so automatic construction of those approaches using machine learning or evolutionary computation have been proposed. In this paper, we propose...
A general approach to solve the inverse kinematics problem of series manipulators, i.e. finding the required joint motions for the desired end effector motions, is based on the linear approximation of the forward kinematics map and discretization of the continuous problem. Due to the linearization, first velocities are calculated, so numerical integration needs to be done to get the joint variables...
In polytopic model-based controller synthesis, the vertices of the model determine the achievable performance characteristics. This paper introduces a new concept, that allows for the sophisticated construction of non-simplex enclosing polytopes. The non-simplex structures in general, have much better descriptor properties than the simplex one that leads to less conservative synthesis. The paper demonstrates...
The 1956 nationalization of the Suez Canal dispute, between Egypt and an alliance between the United States (US) and Britain, is modeled and analyzed within the paradigm of a first-level hypergame in graph form. The results reveal that Britain and US encountered a strategic surprise in the dispute on account of their failure to predict Egypt's action in nationalizing the Suez Canal. The equilibrium...
The target of the article is to solve the problem of fault detection for a multirate sampled-data system with frequency specifications. And the multirate condition considered in this article is that different channels of both the inputs and the outputs have different sampling rates. This paper aims to solve this fault detection problem with using a fault detection filter to make the residual system...
Prior work in statistical crime prediction has not investigated micro-level movement patterns of individuals in the area of interest. Geotagged social media implicitly describe these patterns for many individuals; however, methods of extracting such patterns and integrating them into a statistical model remain undeveloped. This paper presents methods and experiments that begin to fill this gap. We...
In our previous study, a piecewise-linear particle swarm optimizer (PPSO) has been proposed. The dynamics of each particle in PPSO can be controlled by two thresholds for convergence and divergence modes. Each threshold can be determined by the particle's trajectory and the system parameters. However, the conditions of these thresholds for finding desired solutions have not been clarified. In this...
In the development of neuroprostheses to restore sensory and motor function to disabled patients the choice of the electrodes to be used remains an important consideration. The optimal electrode design should be minimally invasive and be capable of recording or stimulating selectively a large number of nerve fibers. Additionally, the electrodes should be capable of delivering stimulation within electrochemically...
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